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Design and implementation of a robust FNN-based adaptive sliding-mode controller for pneumatic actuator systems

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Abstract

An adaptive Fourier neural network sliding mode controller with H ∞ tracking performance (AFNN-SMC+ H ∞) is applied for a Pneumatic actuator system (PAS) to overcome time-varying nonlinear dynamics and external disturbances. Benefiting from the use of orthogonal Fourier basis function, the proposed AFNN has fast estimated convergence speed; also, because AFNN has unique solution, it can avoid falling into the local minimum. The architecture of AFNN can also easily be determined by its clear physical meaning of the neurons. To attenuate the vibration of proportional directional control valve and the adaptive approximation error, the H ∞ tracking design technique is incorporated into the proposed AFNN-SMC. Finally, practical experiments are successfully implemented in position regulation, trajectory tracking, and velocity control of the PAS, which illustrates the effectiveness of the proposed controller.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Lunghwa University of Science and Technology, Taoyuan, Taiwan, Republic of China

    Lian-Wang Lee

  2. Department of Information Technology, Lee-Ming Institute of Technology, Taipei, Taiwan, Republic of China

    I-Hsum Li

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  1. Lian-Wang Lee
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  2. I-Hsum Li
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Correspondence to I-Hsum Li.

Additional information

Lian-Wang Lee received the M.S. in automation and control and the Ph.D. from National Taiwan University of Science and Technology, Taipei, in 2000 and 2009, respectively. He is an Assistant Professor with the Department of Mechanical Engineering, Lunghwa University of Science and Technology, Guishan, Taiwan. His research interests include fluid power control, nonlinear control, mechatronics, intelligent control, adaptive control, and sliding mode control.

I-Hsum Li received the M.S. in electronic engineering form Fu-Jen Catholic University, Taipei, Taiwan, in 2001, and the Ph.D. at National Taiwan University of Science and Technology, Taipei, Taiwan, in 2007. He is an Associate Professor in the Department of Computer Science and Information Engineering in Lee-Ming Institute of Technology, Taiwan. His research interests include genetic algorithms, fuzzy logic systems, adaptive control, system identification and antilock braking system.

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Lee, LW., Li, IH. Design and implementation of a robust FNN-based adaptive sliding-mode controller for pneumatic actuator systems. J Mech Sci Technol 30, 381–396 (2016). https://doi.org/10.1007/s12206-015-1243-2

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  • DOI: https://doi.org/10.1007/s12206-015-1243-2

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