High gain and sliding mode observers for the control of an electropneumatic actuator

Alexis Girin (1) , Franck Plestan (1) , Xavier Brun (2) , Alain Glumineau (1) , Mohamed Smaoui (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 AMPERE - Ampère

Electropneumatic actuators are more and more used in industrial applications. Due to nonlinear phenomena, for many applications, high accuracy can only be obtained when using nonlinear control laws. These strategies allow to get high performances but often need the knowledge of all state variables. Then, there is a real interest to design observers in order to estimate state from the measurements of only one of the chamber pressures in the actuator and carriage position. This paper focuses on a comparison between two nonlinear observers for a half-meter stroke electropneumatic unsymmetrical cylinder controlled by two three-way servodistributors: a high gain observer and a sliding mode one. Simulations are made with a fluid power systems dedicated software, AMESim.

Mots clés: sliding mode observer; High gain observer

Domaines: Automatique / Robotique

Alexis Girin, Franck Plestan, Xavier Brun, Alain Glumineau, Mohamed Smaoui. High gain and sliding mode observers for the control of an electropneumatic actuator. 2006 IEEE ICCA, Oct 2006, Munich, Germany. pp.FrC05.5, ⟨10.1109/CACSD-CCA-ISIC.2006.4777138⟩. ⟨hal-00207671⟩