Robust control of pneumatic actuators based on a simplified model with delayed input

E Edjekouane (1) , Samer Riachy (2, 1) , M Ghanes (1) , Jean-Pierre Barbot (1, 2)

1 ECS-Lab - Électronique et Commande des Systèmes Laboratoire
2 NON-A - Non-Asymptotic estimation for online systems

— Due to frictions and air compressibility, the dy-namics of pneumatic actuators is often described by a complex fourth-order non linear model. Therefore, simplifying the model of pneumatic actuators is of prime interest to design a controller. In this paper a simple second order model is proposed by modeling the pressure dynamics with a pure time delay on the control input. The Artstein transformation is applied to this model to get a delay-free second order system. Then the delay-free system is stabilized using a robust nonlinear controller. The relevance of the proposed approach is demonstrated through experimental tests.

Mots clés: Real-time systems; Nonlinear control; Sliding mode control; Linear Actuator

Domaines: Automatique / Robotique

E Edjekouane, Samer Riachy, M Ghanes, Jean-Pierre Barbot. Robust control of pneumatic actuators based on a simplified model with delayed input. 13th International Workshop on Variable Structure Systems, Jun 2014, Nante, France. pp.1 - 6, ⟨10.1109/VSS.2014.6881117⟩. ⟨hal-01084398⟩