Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer
Due to advantages such as a high power-to-weight ratio, a simple structure, and low cost, pneumatic systems are widely applied in automation. However, precise position control of pneumatic actuators is challenging because of factors such as friction, compressibility, and external disturbances. This...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-09-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/11/9/904 |
| _version_ | 1797579106563391488 |
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| author | Qinsheng Li Birong Ding |
| author_facet | Qinsheng Li Birong Ding |
| author_sort | Qinsheng Li |
| collection | DOAJ |
| description | Due to advantages such as a high power-to-weight ratio, a simple structure, and low cost, pneumatic systems are widely applied in automation. However, precise position control of pneumatic actuators is challenging because of factors such as friction, compressibility, and external disturbances. This paper presents a backstepping sliding mode control (BSMC) strategy based on the extended state observer (ESO) for pneumatic cylinder position tracking. A nonlinear model of the pneumatic system is first established, then system states and disturbances are estimated by an ESO, next the BSMC approach is developed using backstepping method and sliding mode control theory, and the stability of the ESO and controller is analyzed using Lyapunov theory. Finally, simulations and experiments on a pneumatic testbed are performed to compare the effectiveness of the proposed approach with PID control. The results show that the proposed strategy improves tracking accuracy and robustness against disturbances, with a 77.04% reduction in root mean square error (RMSE). This research provides a promising control solution for automated pneumatic polishing robots. |
| first_indexed | 2024-03-10T22:32:13Z |
| format | Article |
| id | doaj.art-9d602a1b8c8644ddad86fbc22a84e152 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T22:32:13Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-9d602a1b8c8644ddad86fbc22a84e1522023-11-19T11:40:56ZengMDPI AGMachines2075-17022023-09-0111990410.3390/machines11090904Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State ObserverQinsheng Li0Birong Ding1School of Mechanical Engineering, Anhui Technical College of Mechanical and Electrical Engineering, Wuhu 241000, ChinaSchool of Mechanical Engineering, Hefei University of Technology, Hefei 230009, ChinaDue to advantages such as a high power-to-weight ratio, a simple structure, and low cost, pneumatic systems are widely applied in automation. However, precise position control of pneumatic actuators is challenging because of factors such as friction, compressibility, and external disturbances. This paper presents a backstepping sliding mode control (BSMC) strategy based on the extended state observer (ESO) for pneumatic cylinder position tracking. A nonlinear model of the pneumatic system is first established, then system states and disturbances are estimated by an ESO, next the BSMC approach is developed using backstepping method and sliding mode control theory, and the stability of the ESO and controller is analyzed using Lyapunov theory. Finally, simulations and experiments on a pneumatic testbed are performed to compare the effectiveness of the proposed approach with PID control. The results show that the proposed strategy improves tracking accuracy and robustness against disturbances, with a 77.04% reduction in root mean square error (RMSE). This research provides a promising control solution for automated pneumatic polishing robots.https://www.mdpi.com/2075-1702/11/9/904polishing robot pneumatic systemextended state observerbackstepping sliding mode controlPIDpneumatic test bench |
| spellingShingle | Qinsheng Li Birong Ding Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer Machines polishing robot pneumatic system extended state observer backstepping sliding mode control PID pneumatic test bench |
| title | Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer |
| title_full | Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer |
| title_fullStr | Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer |
| title_full_unstemmed | Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer |
| title_short | Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer |
| title_sort | design of backstepping sliding mode control for a polishing robot pneumatic system based on the extended state observer |
| topic | polishing robot pneumatic system extended state observer backstepping sliding mode control PID pneumatic test bench |
| url | https://www.mdpi.com/2075-1702/11/9/904 |
| work_keys_str_mv | AT qinshengli designofbacksteppingslidingmodecontrolforapolishingrobotpneumaticsystembasedontheextendedstateobserver AT birongding designofbacksteppingslidingmodecontrolforapolishingrobotpneumaticsystembasedontheextendedstateobserver |