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Sliding Mode Control for a Pneumatic Servo System with Friction Compensation

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Advances in Engineering Research and Application (ICERA 2019)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 104))

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Abstract

In this study, we propose a new control approach for the position tracking of a pneumatic cylinder. The proposed control approach is based on a multiple surface sliding (MSS) control in combination with a LuGre model-based friction observer. A pneumatic servo system using a pneumatic cylinder and two proportional flow control valves is considered. The mathematical model of the system is built to match the design of the multiple-surface sliding control. In the model, the friction force is modelled by the LuGre friction model. The analyzation of absolute stability of the system is based on Lyapunov stability standard. Experimental evaluation with sinusoidal reference inputs at different amplitudes and frequencies is carried out to show good tracking performance and robustness of the proposed control approach.

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Acknowledgements

This research was funded by the Hanoi University of Science and Technology (HUST) under project number T2018-PC-042.

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Authors and Affiliations

  1. Hanoi University of Science and Technology, Hanoi, Vietnam

    Xuan Bo Tran, Van Lai Nguyen, Nam Chung Nguyen, Duc Thinh Pham & Van Lanh Phan

  2. Hanoi University of Mining and Geology, Hanoi, Vietnam

    Van Lai Nguyen

Authors
  1. Xuan Bo Tran
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  2. Van Lai Nguyen
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  3. Nam Chung Nguyen
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  4. Duc Thinh Pham
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  5. Van Lanh Phan
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Corresponding author

Correspondence to Xuan Bo Tran .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Automation, TU Ilmenau, Ilmenau, Thüringen, Germany

    Kai-Uwe Sattler

  2. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  3. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  4. Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  5. Institute for Automation and Systems Engineering, TU Ilmenau, Ilmenau, Thüringen, Germany

    Horst Puta

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Tran, X.B., Nguyen, V.L., Nguyen, N.C., Pham, D.T., Phan, V.L. (2020). Sliding Mode Control for a Pneumatic Servo System with Friction Compensation. In: Sattler, KU., Nguyen, D., Vu, N., Tien Long, B., Puta, H. (eds) Advances in Engineering Research and Application. ICERA 2019. Lecture Notes in Networks and Systems, vol 104. Springer, Cham. https://doi.org/10.1007/978-3-030-37497-6_75

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