Papers by Farzan Soleymani
This research develops a Multiple Surface Sliding-Mode Control (MSSC) approach the position contr... more This research develops a Multiple Surface Sliding-Mode Control (MSSC) approach the position control of a servo-pneumatic system in presence of mismatched uncertainties due to friction force of the cylinder sealing. Servo-Pneumatic actuators have many applications such as industrial automation, haptic interfaces, Rehabilitation robots and non-invasive surgeries. Nonlinearities due to internal and external disturbances such as friction force between piston seal and cylinder wall; make it difficult to achieve proper performance from these actuators. Thus modeling and identification of friction parameters is an essential part of the controller design procedure. A simple model for friction such as stribeck model could be use in order to reduce complexity of identification procedure. In addition a bounded uncertainty owing to the unmodel dynamics of friction is considered. Lack of direct measurement for systems velocity necessitates finding a solution to estimate this parameter. One answer to this problem is to employ high gain observer. Whereas mismatched uncertainties appear in the state space equation of the system before control input. Therefore control input cannot apply directly on them. In the proposed framework a multiple-surface sliding mode control scheme has been used to cope with this type of uncertainties. Asymptotic stability of the closed loop system is proven by using Lyapunov method; experimental results show that the proposed controller can deliver good tracking performance and it is robust to uncertainties. Experimental results validate controller performance.
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Papers by Farzan Soleymani