Nonlinear Control of a Pneumatic Actuator Based on a Dynamic Friction Model

This paper presents a new controller for the position of pneumatic actuator. The is designed based on multiple-surface sliding control method in combination with frictional compensator. applied to deal nonlinear characteristics system, and compensator compensate friction force estimated dynamic model (the LuGre model). Both simulation experimental studies are done evaluate controller. evaluation results indicate significant improvement tracking error comparing without compensation other controllers.