A robust sliding mode control for pneumatic servo systems

摘要

This paper presents a robust sliding mode control scheme for pneumatic servo systems. By using the Lyapunov stability theory and a few structural properties of pneumatic servo systems, a robust sliding mode controller can be designed so that the output tracking error within any neighborhood of boundary layer as time, t-∞, and strong robustness, with respect to large uncertain dynamics, can be guaranteed. The pneumatic servo systems using a proposed control scheme have a strong, robust property, not only because the error dynamic is insensitive to uncertain dynamics on the sliding mode, but also because only the uncertain bounds based on the structure properties of pneumatic servo systems are used in controller design. Its superior performance is suggested in the results, both simulation and application in the practical pneumatic servo systems.