摘要：The dynamics of pneumatic systems are highly nonlinear, and there normally exists a large extent of model uncertainties; the precision motion trajectory tracking control of pneumatic cylinders is still a challenge. In this paper, two typical nonlinear controllers—adaptive controller and deterministic robust controller—are constructed firstly. Considering that they have both benefits and limitations, an adaptive robust controller (ARC) is further proposed. The ARC is a combination of the first two controllers; it employs online recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the robust control method to attenuate the effects of parameter estimation errors, unmodeled dynamics, and disturbances. In order to solve the conflicts between the robust control design and the parameter adaption law design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Theoretically, ARC possesses the advantages of the adaptive control and the deterministic robust control, and thus an even better tracking performance can be expected. Extensive comparative experimental results are presented to illustrate the achievable performance of the three proposed controllers and their performance robustness to the parameter variations and sudden disturbance.
