A Pneumatic Force Actuator System with long tubes based on the Model-Free Adaptive Control with a Tracking Differentiator

Since the Pneumatic Force Actuator System with Long Tubes (PFASWLT) possesses the characteristics of strong nonlinearity, time delay and uncertainties due to the changeable load and environmental parameters, it is difficult to identify parameters of the dynamical process and establish the precise mathematical model. The Model-Free Adaptive Control (MFAC) is a senior control method and there is no need to build a mathematical model. The Tracking Differentiator (TD) can weaken the effect of the signal noise. This paper presents TD-MFAC (model-free adaptive control with TD) based on the characteristics of PFASWLT, which shows higher precision, a faster response, less overshoot and stronger robustness on the displacement control of PFASWLT compared with PID experimental results.