Friction-Compensating Feedback Linearization Control Applied to a Pneumatic Servo System

Abstract:

This work proposes a feedback linearization control algorithm to be applied to a pneumatic positioning system. Such algorithm aims to compensate the undesirable effects due to the highly nonlinear dynamic behavior of such type of actuator. A mathematical model of the system is presented and the proposed controller is described. Besides, an analysis is provided of the convergence properties of the closed-loop tracking errors of the system when such controller is used. The main features of the proposed controller are illustrated by means of experimental results and respective discussions.

• Periodical: Advanced Materials Research (Volume 902)
• Pages: 219-224
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.902.219
• Online since: February 2014
• Authors: Mario R. Sobczyk S., Ricardo M. Suzuki, Carlos A.C. Sarmanho Jr., Eduardo A. Perondi
• Keywords: Feedback Linearization, Nonlinear Control, Pneumatic Actuator, Pole Placement Control

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