A Hybrid Controller for Position Control of a Pneumatic Actuator under Variable Loading Conditions

E-ISSN： 2261-236x|95|issue|16001-16001

ISSN： 2261-236x

Source： MATEC Web of conference, Vol.95, Iss.issue, 2017-02, pp. : 16001-16001

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Abstract

Pneumatic actuators are preferred for low to medium power requirements due to their desirable features like large power to weight ratio, low cost and safe working medium. Position control of pneumatic actuators is however difficult due to inherent nonlinearity-contributing factors. Therefore, position control of pneumatic actuators have been found to be a challenging task using fixed gain controllers. Sliding mode control can be used to overcome this difficulty. Further, the nonlinear response of pneumatic actuators under variable loading conditions makes it a fit case for using heuristic control based on the knowledge of the system behaviour. This may be done by using fuzzy logic based control approach. In the present work, a hybrid controller was synthesized using fuzzy logic control and sliding mode control for position control of a pneumatic actuation system. The quantitative results emphasized that hybrid FLC-SMC controller exhibited effective position control for pneumatic actuation system as fuzzy logic control was effective for combinations of lower payloads and smaller piston displacements, whereas sliding mode controller was effective for combinations of higher payloads and larger piston displacements.