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Adaptive Second Order Sliding Mode Control: Application to Position and Force Control of Electro-Pneumatic Actuators

[+] Author Affiliations
Mohammed Taleb

Ecole Centrale de Nantes, Nantes, FranceMoulay Ismaïl University, Meknes, Morocco

Franck Plestan

Ecole Centrale de Nantes, Nantes, France

Paper No. ESDA2012-82778, pp. 839-846; 8 pages
doi:10.1115/ESDA2012-82778
From:
  • ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 1: Advanced Computational Mechanics; Advanced Simulation-Based Engineering Sciences; Virtual and Augmented Reality; Applied Solid Mechanics and Material Processing; Dynamical Systems and Control
  • Nantes, France, July 2–4, 2012
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4484-7
  • Copyright © 2012 by ASME

abstract

This paper presents an application of adaptive 2nd order sliding mode control. This control is based on twisting algorithm and ensures a finite time convergence to the sliding manifold σ = σ̇ = 0, σ being the sliding variable and defined from the control objectives. The control solution required a limited information about the uncertainties and the disturbances acting on the system. This control strategy is applied to an electropneumatic set-up. This bench consists of two rod coupled pneumatic cylinders: one cylinder is controlled on position and perturbed by the second cylinder which is force-controlled. The efficacy of this strategy is evaluated through some simulations.

Copyright © 2012 by ASME

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