Title: Prescribed performance control for a pneumatic cylinder with strong friction via nonlinear extended state observer

Authors: Shaomeng Gu; Ce Yan; Xin Liu; Ling Zhao; Bo Liu

Addresses: School of Automation, Beijing Institute of Technology, Beijing, China ' School of Automation, Beijing Institute of Technology, Beijing, China ' School of Automation, Beijing Institute of Technology, Beijing, China ' State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China; State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China ' Department of Electrical Engineering, King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia

Abstract: In this paper, a nonlinear extended state observer (NESO)-based prescribed performance control (PPC) method is developed for a pneumatic cylinder with strong friction. For the system model, a pneumatic servo system with strong nonlinearity is established to describe the pneumatic cylinder with strong friction. To improve control accurate under the strong nonlinearity conditions, PPC is design to prescribe its transient and steady-state performances. Moreover, both the NESO convergence and the closed-loop system stability are analysed by utilising Lyapunov approaches. Finally, simulation results and experimental results confirm the effectiveness and robustness.

Keywords: pneumatic servo system; strong nonlinearity; nonlinear extended state observer; NESO; position control; prescribed performance control; PPC.

DOI: 10.1504/IJHM.2023.134343

International Journal of Hydromechatronics, 2023 Vol.6 No.4, pp.359 - 379

Received: 19 May 2023
Accepted: 17 Jul 2023
Published online: 18 Oct 2023 *