WSEAS Transactions on Systems

Print ISSN: 1109-2777
E-ISSN: 2224-2678

Volume 17, 2018

Notice: As of 2014 and for the forthcoming years, the publication frequency/periodicity of WSEAS Journals is adapted to the 'continuously updated' model. What this means is that instead of being separated into issues, new papers will be added on a continuous basis, allowing a more regular flow and shorter publication times. The papers will appear in reverse order, therefore the most recent one will be on top.

Volume 17, 2018

Comparative Study of Electro-pneumatic Actuator Performance Using Linear, Sliding Mode and Hybrid Position Control Laws

AUTHORS: Shawki Al-Saloum, Ali Taha, Ibrahim Chouaib

Download as PDF

ABSTRACT: This paper presents a comparative study of linear, sliding mode and hybrid control laws for an electro-pneumatic actuator in the context of position control. The linear controllers include gain-scheduledproportional-velocity-acceleration and proportional-derivative. The sliding mode controllers include first, second and third order sliding mode control laws. The hybrid controllers are combinations of linear and sliding mode control laws. More precisely, two hybrid controllers have been designed, the first uses gain-scheduledproportional-velocity-acceleration control law as sliding variable for the first order sliding mode controller, and the second considers the proportional-derivative control law as sliding variable for the second order sliding mode controller. The experimental results showed that the hybrid control laws improve the robustness of the first and second order sliding mode control; also they improve time and frequency response characteristics of the closed-loop. The analysis of experimental results showed the performance of each control law. The main conclusion of results analysis is that the third order sliding mode control law realizes better bandwidth and the second hybrid control law realizes better settling time under load and better position accuracy besides the good bandwidth and the ease of implementation

KEYWORDS: Linear control law, sliding mode control, sliding variable, electro-pneumatic actuator.


[1] VADIM, I. UTKIN. 'Survey paper variable structure systems with sliding modes.' IEEE Transactions on Automatic control 22.2 (1977).

[2] de Souza, Oldineia Batista, et al. 'Adaptive Control Applied To Two Links Of A Cartesian Electropneumatic Manipulator Robot Of Three Degrees Of Freedom.' ABCM Symposium Series in Mechatronics. Vol. 5. 2012.

[3] Abry, Frederic, et al. 'Non-linear position control of a pneumatic actuator with closedloop stiffness and damping tuning.' European Control Conference (ECC). 2013.

[4] Riachy, Samer, and Malek Ghanes. 'A nonlinear controller for pneumatic servo systems: Design and experimental tests.' Mechatronics, IEEE/ASME Transactions on 19.4 (2014): 1363-1373.

[5] Brun, Xavier. Commandes linéaires et non linéaires en électropneumatique. méthodologies et Applications. Diss. 1999.

[6] Laghrouche, S., et al. 'Robust second order sliding mode controller for electropneumatic actuator.' American Control Conference. Vol. 6. 2004.

[7] Dridi, Mehdi. Dérivation numérique: synthèse, application et intégration. Diss. Ecole Centrale de Lyon, 2011.

[8] Girin, Alexis. Contribution à la commande non linéaire d'un système électropneumatique pour une utilisation Aéronautique: Application sur un Benchmark dédié. Diss. Ecole Centrale de Nantes (ECN), 2007.

[9] Girin, Alexis, et al. 'High-order sliding-mode controllers of an electropneumatic actuator: Application to an aeronautic benchmark.' Control Systems Technology, IEEE Transactions on 17.3 (2009): 633-645.

[10] Le, Minh-Quyen. Development of bilateral control for pneumatic actuated teleoperation system. Diss. INSA de Lyon, 2011.

[11] Milosavljević, Čedomir, Branislava Peruničić, and Boban Veselić.'A New Real Differentiator with Low-Pass Filter in Control Loop.' FACULTY OF ELECTRICAL ENGINEERING UNIVERSITY OF BANJA LUKA: 27.

[12] Ogata, Katsuhiko. Modern control engineering, third edition. Upper Saddle River, NJ: Prenticehall, 1997.

[13] Slotine, Jean-Jacques E., and Weiping Li. Applied nonlinear control. Vol. 199.No. 1. Englewood Cliffs, NJ: Prentice-hall, 1991.

[14] Huangfu, Yi-Geng. Research of Nonlinear System High Order Sliding Mode Control and its Applications for PMSM. Diss. North Western Polytechnical University (Chine), 2010.

[15] Shtessel, Yuri, et al. 'Introduction: Intuitive Theory of Sliding Mode Control.' Sliding Mode Control and Observation. Springer New York, 2014.1-42.

[16] Bregeault, Vincent. Quelques contributions à la théorie de la commande par modes glissants. Diss. Ecole Centrale de Nantes (ECN), 2010.

WSEAS Transactions on Systems, ISSN / E-ISSN: 1109-2777 / 2224-2678, Volume 17, 2018, Art. #1, pp. 1-15

Copyright © 2018 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution License 4.0

Bulletin Board


The editorial board is accepting papers.

WSEAS Main Site