Observer-Based Integral Sliding Mode Tracking Control for a Pneumatic Cylinder With Varying Loads

Abstract

In this paper, a generalized nonlinear extended state observer is applied to an integral sliding mode (ISM) tracking control method for a pneumatic cylinder servo system with varying loads. The observer is established to estimate the total disturbance and its derivative for the system. An ISM controller is designed to ensure control performances of the system. Both finite-time convergence of the observer and finite-time stabilization of the closed-loop system are realized using Lyapunov's stability theory. Lastly, experimental results demonstrate that control precision and response rapidity are improved using the proposed method.