Systematic control of an electropneumatic system: Integrator backstepping and sliding mode control

Mohamed Smaoui (1, 2) , Xavier Brun (1, 2) , Daniel Thomasset (1, 2)

1 LAI - Laboratoire d'Automatique Industrielle
2 AMPERE - Ampère

This paper presents a synthesis of a nonlinear controller to an electropneumatic system. Nonlinear backstepping control and nonlinear sliding mode control laws are applied to the system under consideration. First, the nonlinear model of the electropneumatic system is presented. It is transformed to be a nonlinear affine model and a coordinate transformation is then made possible by the implementation of the nonlinear controller. Two kinds of nonlinear control laws are developed to track the desired position and desired pressure. Experimental results are also presented and discussed.

Mots clés: electropneumatic actuator; backstepping control; sliding mode control; NONLINEAR-SYSTEMS; NEURAL-NETWORK CONTROL

Domaines: Automatique / Robotique

Mohamed Smaoui, Xavier Brun, Daniel Thomasset. Systematic control of an electropneumatic system: Integrator backstepping and sliding mode control. IEEE Transactions on Control Systems Technology, 2006, 14 (5), pp.905-913. ⟨10.1109/TCST.2006.880183⟩. ⟨hal-00140641⟩