Design and experimentation of an observer-based linear adaptive control applied to an electropneumatic actuator

• Published in: IET control theory & applications Vol. 10; no. 11; pp. 1288 - 1298
• Main Authors: Boubakir, Ahsene, Plestan, Franck, Labiod, Salim, Boudjema, Fares
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 18.07.2016; Institution of Engineering and Technology
• Subjects: Actuators; Adaptation; adaptation law; Adaptive control; Automatic Control Engineering; closed loop systems; closed‐loop system; Computer Science; control system synthesis; Control systems; Controllers; electropneumatic actuator system; electropneumatic control equipment; extended observer; implicit function theory; linear systems; Mathematical models; observers; observer‐based linear adaptive control scheme; pneumatic actuators; Pneumatics; position control; position controller; position measurement; Regular Papers; singular perturbation theory; stability; Theorems; Tikhonov's theorem; tracking error vector; implicit function theory; Tikhonov’s theorem; observer-based linear adaptive control scheme; electropneumatic control equipment; pneumatic actuators; electropneumatic actuator system; adaptive control; control system synthesis; linear systems; tracking error vector; closed loop systems; position controller; position control; adaptation law; position measurement; singular perturbation theory; observers; stability; closed-loop system; extended observer
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2015.1187

This study proposes an observer-based linear adaptive control scheme for the position control of a pneumatic actuator system. The proposed controller does not rely on a physical model of the pneumatic actuator system to be controlled; it only needs the position measurement for its implementation, which is really a novelty in the field of such applications. First, based on the implicit function theory, the existence of an ideal position controller is demonstrated. Then, the objective is to construct this unknown ideal position controller using a linear control with a stable adaptation law and an extended observer. This latter is used to estimate both the tracking error vector and an unknown function of the error between the implicit ideal control and the actual control which is used in the adaptation mechanism. The stability of the overall closed-loop system is studied by using singular perturbation theory and Tikhonov's theorem. Finally, real-time experimental results are provided to show the performances of the proposed control scheme.