A nonlinear controller for pneumatic servo systems: Design and experimental tests

Samer Riachy 1, 2 Malek Ghanes 2
1 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
Abstract : This paper is dedicated to the problem of pneumatic cylinder control without pressure measurement. Based on the theory of homogeneous, finite time stable, ordinary differential equations, a state feedback nonlinear controller is proposed. The closed loop system stability is proved and an attraction domain of the controller is given. The performances and the effectiveness of the proposed controller are illustrated against an experimental setup consisting of a pneumatic cylinder controlled by dSPACE dS1103 microcontroller.
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Submitted on : Friday, September 27, 2013 - 3:46:29 PM
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Samer Riachy, Malek Ghanes. A nonlinear controller for pneumatic servo systems: Design and experimental tests. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2013, ⟨10.1109/TMECH.2013.2280956⟩. ⟨hal-00867054⟩

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