Average Modeling and Nonlinear Observer Design for Pneumatic Actuators With On/Off Solenoid Valves
- 12 November 2021
- journal article
- research article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 144 (2)
- https://doi.org/10.1115/1.4052394
Abstract
This paper presents an averaged state model and the design of nonlinear observers for an on/off pneumatic actuator. The actuator is composed of two chambers and four on/off solenoid valves. The elaborated averaged state model has the advantage of using only one continuous input instead of four binary inputs. Based on this new model, a high gain observer and a sliding mode observer are designed using the piston position and the pressure measurements in one of the chambers. Finally, their closed-loop performances are verified and compared on an experimental benchmark.Keywords
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