Practical design of adaptive model-based sliding mode control of pneumatic actuators

Summary form only given. A new adaptive control algorithm is proposed for pneumatic actuators using the model-based sliding mode control approach. The design is based on full, fourth-order, nonlinear dynamics. To overcome the need for feedback of acceleration and jerk variables, we use the pressure difference between the chambers and its derivative as states. A method for adaptively estimating the unknown parameters is given. The proposed controller is simple, easy to implement, and is robust to payload and parametric variations. The effectiveness of the new scheme is illustrated by implementation on an industrial piston-driven cylindrical actuator with proportional valves.