Backstepping integral sliding mode control for pneumatic manipulators via adaptive extended state observers

Area of Science:

• Robotics
• Control Systems Engineering
• Mechanical Engineering

Background:

• Pneumatic manipulators are widely used in automation but are susceptible to uncertainties and disturbances.
• Accurate control of these systems is challenging due to nonlinear dynamics and external factors.
• Existing control strategies may not adequately address the complex dynamics of pneumatic systems.

Purpose of the Study:

• To propose a novel nonlinear control strategy for a single degree-of-freedom pneumatic manipulator.
• To enhance the robustness and precision of pneumatic manipulator control.
• To effectively estimate and compensate for system uncertainties and external disturbances.

Main Methods:

• A single degree-of-freedom dynamic model of the pneumatic manipulator was established using Euler-Lagrange equations.
• An adaptive extended state observer (AESO) was designed with an adaptive law to estimate uncertainties and disturbances.
• A backstepping integral sliding mode controller (ISMC) was developed utilizing an integral sliding mode surface and backstepping techniques.

Main Results:

• The adaptive extended state observer successfully estimated system uncertainties and disturbances.
• The backstepping integral sliding mode controller effectively compensated for the estimated uncertainties.
• Experimental results demonstrated the superior performance and effectiveness of the proposed control strategy compared to existing methods.

Conclusions:

• The proposed nonlinear control strategy, integrating an adaptive extended state observer and a backstepping integral sliding mode controller, significantly improves the control performance of pneumatic manipulators.
• The method provides a robust solution for handling uncertainties and disturbances in pneumatic systems.
• This approach offers a promising direction for advanced control of robotic systems in various industrial applications.