A robust multivariable control for an electropneumatic system using backstepping design

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

1 LAI - Laboratoire d'Automatique Industrielle
2 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes

During the last twenty years, the parallel development of pneumatic systems and control theory has lead to the implementation of modern control laws in pneumatic devices. This paper deals with the robust control problem of a pneumatic actuator subjected to mass flow leakage inside the servodistributor and load disturbances. The control strategy is based on backstepping design. For this, backstepping is presented in an informal setting. The nonlinear model of the electropneumatic system is presented. This one is transformed to be nonlinear affine model and a coordinate transformation is then related to make possible the implementation of the nonlinear controller. Control laws are developed using backstepping design to control position and pressure. The robustness visa -vis modeling errors and some unknown terms is proved. Finally, the experiment results are presented and discussed.

Mots clés: Electropneumatic system; backstepping control; multivariable control; tracking

Domaines: Automatique / Robotique

Mohamed Smaoui, Xavier Brun, Daniel Thomasset. A robust multivariable control for an electropneumatic system using backstepping design. Symposium on Nonlinear Control Systems, NOLCOS 6th IFAC symposium, Sep 2004, Stuttgart, Germany. pp.1193-1198, ⟨10.1016/S1474-6670(17)31342-3⟩. ⟨hal-02066857⟩