Robust Estimator Design for Control of Electropneumatic System

Lilia Sidhom (1) , Mohamed Smaoui (2) , Xavier Brun (2, 3) , Eric Bideaux (2)

1 ENIT - Ecole Nationale d'Ingénieurs de Tunis
2 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes
3 INSA Lyon - Institut National des Sciences Appliquées de Lyon

This paper proposes a new estimation scheme for both speed and acceleration signals in order to include them in a control loop for dynamic system. The proposed scheme consists to improve higher order sliding modes estimator where it can cope with measurement noise better than the classic one. Then, the estimator parameters are online updated with respect to the measured signal variations to reach a good compromise between precision and noise robustness. The tuning formulas of gains estimator are developed by Lyapunov analysis. Simulation and experimental results are presented to confirm the expected performance of the proposed estimator. Thus, its validity is demonstrated by an experimental test in the control context for an electropneumatic system.

Mots clés: Differentiator; Dynamic gains; Electropneumatic system; Estimator/Controller design; Higher order sliding modes; Experimentation

Domaines: Automatique / Robotique

Lilia Sidhom, Mohamed Smaoui, Xavier Brun, Eric Bideaux. Robust Estimator Design for Control of Electropneumatic System. IETE journal of research, 2017, pp.1 - 13. ⟨10.1080/03772063.2017.1364673⟩. ⟨hal-01612269⟩