Adaptive Backstepping Control of a Pneumatic System With Unknown Model Parameters and Control Direction
The performance of the pneumatic elements and the micro-controller steadily increases as the price of them decreases. This trend promotes high performance tracking control research on pneumatic servo systems. However, it is very difficult to obtain exact model parameters, which is one of the main ob...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8716665/ |
| _version_ | 1819179294760370176 |
|---|---|
| author | Hai-Peng Ren Xuan Wang Jun-Tao Fan Okyay Kaynak |
| author_facet | Hai-Peng Ren Xuan Wang Jun-Tao Fan Okyay Kaynak |
| author_sort | Hai-Peng Ren |
| collection | DOAJ |
| description | The performance of the pneumatic elements and the micro-controller steadily increases as the price of them decreases. This trend promotes high performance tracking control research on pneumatic servo systems. However, it is very difficult to obtain exact model parameters, which is one of the main obstacles to design a high performance controller. Moreover, in some application cases, the control direction is undetermined because of the possible false or incorrect valve outlets connection. At the same time, the inaccuracy of the proportional valve zero points also degrades the tracking performance of pneumatic servo systems. In this paper, an adaptive backstepping control approach is proposed for a pneumatic position servo system considering unknown model parameters, unknown control direction, and inaccurate valve zero points. The proposed method combines the Nussbaum function and backstepping technique to design a position tracking controller of a pneumatic servo system with the aforementioned uncertainties. By using the Lyapunov method, the designed controller is proved to be stable, and the tracking error asymptotically converges to zero. The experimental results demonstrate the effectiveness and the superiority of the proposed approach as compared with some existing methods, even for negative direction case for which the other methods fail. The performance of the proposed controller is further improved by considering the proportional valve zero points. |
| first_indexed | 2024-12-22T21:56:10Z |
| format | Article |
| id | doaj.art-7e5922794f254a28b0f58f794ebb9cfc |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T21:56:10Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-7e5922794f254a28b0f58f794ebb9cfc2022-12-21T18:11:14ZengIEEEIEEE Access2169-35362019-01-017644716448210.1109/ACCESS.2019.29174018716665Adaptive Backstepping Control of a Pneumatic System With Unknown Model Parameters and Control DirectionHai-Peng Ren0https://orcid.org/0000-0003-3834-5103Xuan Wang1Jun-Tao Fan2Okyay Kaynak3https://orcid.org/0000-0002-4789-6700Shaanxi Key Laboratory Complex System Control and Intelligent Information Processing, Xi’an University of Technology, Xi’an, ChinaShaanxi Key Laboratory Complex System Control and Intelligent Information Processing, Xi’an University of Technology, Xi’an, ChinaShaanxi Key Laboratory Complex System Control and Intelligent Information Processing, Xi’an University of Technology, Xi’an, ChinaDepartment of Electrical and Electronic Engineering, Boğaziçi University, Istanbul, TurkeyThe performance of the pneumatic elements and the micro-controller steadily increases as the price of them decreases. This trend promotes high performance tracking control research on pneumatic servo systems. However, it is very difficult to obtain exact model parameters, which is one of the main obstacles to design a high performance controller. Moreover, in some application cases, the control direction is undetermined because of the possible false or incorrect valve outlets connection. At the same time, the inaccuracy of the proportional valve zero points also degrades the tracking performance of pneumatic servo systems. In this paper, an adaptive backstepping control approach is proposed for a pneumatic position servo system considering unknown model parameters, unknown control direction, and inaccurate valve zero points. The proposed method combines the Nussbaum function and backstepping technique to design a position tracking controller of a pneumatic servo system with the aforementioned uncertainties. By using the Lyapunov method, the designed controller is proved to be stable, and the tracking error asymptotically converges to zero. The experimental results demonstrate the effectiveness and the superiority of the proposed approach as compared with some existing methods, even for negative direction case for which the other methods fail. The performance of the proposed controller is further improved by considering the proportional valve zero points.https://ieeexplore.ieee.org/document/8716665/Pneumatic systemunknown model parametersinaccurate proportional valve zero pointNussbaum functionunknown control direction |
| spellingShingle | Hai-Peng Ren Xuan Wang Jun-Tao Fan Okyay Kaynak Adaptive Backstepping Control of a Pneumatic System With Unknown Model Parameters and Control Direction IEEE Access Pneumatic system unknown model parameters inaccurate proportional valve zero point Nussbaum function unknown control direction |
| title | Adaptive Backstepping Control of a Pneumatic System With Unknown Model Parameters and Control Direction |
| title_full | Adaptive Backstepping Control of a Pneumatic System With Unknown Model Parameters and Control Direction |
| title_fullStr | Adaptive Backstepping Control of a Pneumatic System With Unknown Model Parameters and Control Direction |
| title_full_unstemmed | Adaptive Backstepping Control of a Pneumatic System With Unknown Model Parameters and Control Direction |
| title_short | Adaptive Backstepping Control of a Pneumatic System With Unknown Model Parameters and Control Direction |
| title_sort | adaptive backstepping control of a pneumatic system with unknown model parameters and control direction |
| topic | Pneumatic system unknown model parameters inaccurate proportional valve zero point Nussbaum function unknown control direction |
| url | https://ieeexplore.ieee.org/document/8716665/ |
| work_keys_str_mv | AT haipengren adaptivebacksteppingcontrolofapneumaticsystemwithunknownmodelparametersandcontroldirection AT xuanwang adaptivebacksteppingcontrolofapneumaticsystemwithunknownmodelparametersandcontroldirection AT juntaofan adaptivebacksteppingcontrolofapneumaticsystemwithunknownmodelparametersandcontroldirection AT okyaykaynak adaptivebacksteppingcontrolofapneumaticsystemwithunknownmodelparametersandcontroldirection |