Position Tracking of a Pneumatic Actuator Using Backstepping-Sliding Mode Control With Adaptive Friction Observer
Bibliographic record
Abstract
In this paper, an enhanced sliding mode control (SMC)-based controller known as backstepping-sliding mode control (B-SMC) with an adaptive friction observer is proposed for position tracking control of pneumatic actuators. The adverse effect of friction encountered in the pneumatic actuators which play a major role in pneumatic servo system is highlighted and a solution to rectify this is proposed using an adaptive LuGre-based friction observer for friction compensation. The B-SMC is experimentally applied, for the first time, on a double-acting single-rod industrial pneumatic cylinder. Comprehensive derivation as well as stability proof of the controller is presented. The performance of B-SMC with and without the friction observer is experimentally investigated. From the results, it is clearly observed that the B-SMC with the adaptive friction observer performs better (i.e. reduces the tracking as well steady-state errors of up to 30%) than the one without friction observer. Thus, the adaptive friction observer of B-SMC is identified as the key element that improved the control performance by compensating the adverse effect of friction during the position tracking tasks.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".