Robust control of electropneumatic actuator position via adaptive sliding mode approach

In this work, we develop a robust controller based on adaptive sliding mode strategy to control the position of electro-pneumatic system. The Sliding Mode Control (SMC) is renowned for its precision, robustness against uncertainties and disturbance. However, it suffers from chattering phenomenon. To overcome it, we substitute the discontinuous term of SMC by a proportional derivative term and to improve tracking performance and robustness with respect to parameters variations, we use moving sliding surface. The adaptive parameters are obtained basing on Lyapunov stability analysis to guarantee stability of closed loop system. Experimental results on a electro-pneumatic actuator are presented to show the robustness of the proposed controller.