PRECISION SYNCHRONIZATION MOTION TRAJECTORY TRACKING CONTROL OF MULTIPLE PNEUMATIC CYLINDERS

This paper deals with the synchronized motion trajectory tracking control problem of multiple pneumatic cylinders. An adaptive robust synchronization controller is developed by incorporating the cross-coupling technology into the integrated direct/indirect adaptive robust control (DIARC) architecture. The position synchronization error and the trajectory tracking error of each cylinder are combined to construct the so-called coupled position error. The proposed adaptive robust synchronization controller is designed with the feedback of this coupled position error and is composed of two parts: an on-line parameter estimation algorithm and a robust control law. The former is employed to obtain accurate estimates of model parameters for reducing the extent of parametric uncertainties, while the latter is utilized to attenuate the effects of parameter estimation errors, unmodelled dynamics, and external disturbances. Theoretically, both the position synchronization and trajectory tracking errors will achieve asymptotic convergence simultaneously. Moreover, the effectiveness of the proposed controller is verified by the extensive experimental results performed on a two-cylinder pneumatic system.