Backstepping Sliding-Mode Control for a Pneumatic Control System

Abstract

In general, air motors have been applied for automation in industry. There are many kinds of air motors used in automation equipment, such as vane air motors, piston air motors, etc. The advantage of the piston air motor is that it is able to provide larger torque at low speed than air vane motors. The aim of the present study was to analyse the behaviour of such a motor, a radial piston air motor mounted on a ball screw table, and to accomplish accurate desired positioning utilizing a backstepping sliding-mode controller. Variation due to compressibility of the air and friction in the mechanism make the overall system non-linear. Two methods were applied to overcome the chattering phenomenon and control the system: the proportional—integral—derivative controller and the backstepping sliding-mode controller. Experimental results showed that the proposed backstepping sliding-mode controller apparently suppresses overshoot and provides accurate positioning performance.

Keywords

radial piston air motors backstepping sliding-mode control

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