Position control of pneumatic actuator using Multi-rate Output Feedback sliding mode control

Abstract

In this paper a sliding mode control law is developed based on Multi-rate Output Feedback strategy, wherein output is sampled at a faster rate than the input and is succesfully implemented on pneumatic actuator for fast, accurate and inexpensive system with excellent tracking performance. Only one sensor, potentiometer is used thereby making the system very inexpensive. Use of this technique eradicates the need of any other states other than output and so the requirement of any kind of observer. The advantages of sliding mode control in tackling with uncertainities is exhibited by different weights as pay load to the system. The experimental results obtained is of superior quality compared to the previous works.