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Precision Synchronization Motion Trajectory Tracking Control of Multiple Pneumatic Cylinders
Author(s) -
Meng Deyuan,
Tao Guoliang,
Li Aimin,
Li Wei
Publication year - 2016
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1269
Subject(s) - control theory (sociology) , trajectory , tracking error , synchronization (alternating current) , controller (irrigation) , pneumatic cylinder , position (finance) , adaptive control , parametric statistics , computer science , convergence (economics) , robust control , tracking (education) , control engineering , engineering , cylinder , control system , mathematics , control (management) , artificial intelligence , physics , pedagogy , channel (broadcasting) , economic growth , computer network , biology , psychology , agronomy , mechanical engineering , statistics , finance , astronomy , electrical engineering , economics
This paper deals with the synchronized motion trajectory tracking control problem of multiple pneumatic cylinders. An adaptive robust synchronization controller is developed by incorporating the cross‐coupling technology into the integrated direct/indirect adaptive robust control (DIARC) architecture. The position synchronization error and the trajectory tracking error of each cylinder are combined to construct the so‐called coupled position error. The proposed adaptive robust synchronization controller is designed with the feedback of this coupled position error and is composed of two parts: an on‐line parameter estimation algorithm and a robust control law. The former is employed to obtain accurate estimates of model parameters for reducing the extent of parametric uncertainties, while the latter is utilized to attenuate the effects of parameter estimation errors, unmodelled dynamics, and external disturbances. Theoretically, both the position synchronization and trajectory tracking errors will achieve asymptotic convergence simultaneously. Moreover, the effectiveness of the proposed controller is verified by the extensive experimental results performed on a two‐cylinder pneumatic system.