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Published in IET Control Theory and Applications
Received on 19th July 2011
Revised on 5th January 2012
doi: 10.1049/iet-cta.2011.0434

ISSN 1751-8644

Wavelet-based adaptive sliding-mode control with H

tracking performance for pneumatic servo system
position tracking control
L.-W. Lee1 I.-H. Li2
1 Department

of Graduate School of EngineeringTechnology, Lunghwa University of Science andTechnology, No. 300,

Sec. 1, Wanshou Road, Guishan Shiang,Taoyuan County,Taiwan,TaoyuanTW 33306
2 Department of InformationTechnology, Lee-Ming Institute of Technology, No. 2, Sec. 2, Lee Zhuan Road,Taishan,
Taipei County,Taiwan,TaipeiTW 243
E-mail: i-hsum@orion.ee.ntust.edu.tw

Abstract: An adaptive sliding-mode controller developed from an orthogonal Haar wavelet is proposed for a pneumatic servo
control system experiment to overcome its non-linear and time-varying characteristics. To achieve real-time control of the
pneumatic servo system, the orthogonal Haar wavelet is employed to quickly and accurately t a non-linear function, thus
bypassing the model-based prerequisite. The adaptive laws for the coefcients of the Haar wavelet series are derived from
a Lyapunov function to guarantee system stability. One of the authors purposes is to enhance the stability, reliability and
working performance of the pneumatic servo system. Hence, the H tracking technique is incorporated into the conventional
adaptive sliding-mode control method [Haar wavelet-based adaptive sliding-mode controller with H tracking performance
(HWB-ASMC + H )] to attenuate the vibration of servo valve, which is caused by the chattering effect. The authors also
show that the proposed HWB-ASMC + H is robust against approximated errors, un-modelled dynamics and disturbances,
and can reduce the control chattering problem. The advantages of the proposed method include that no system dynamic models
being required to achieve the controller design and no trial-and-error efforts are needed in selecting an approximation function.
Consequently, practical experiments on a pneumatic servo system are successfully implemented with different position tracking
proles, which validates the proposed method.

Introduction

Since being developed in 1954, the pneumatic actuator

system has become one of the most common actuators
in industry and been widely used in the automation eld
which, for actuators, emphasises reliability, cost, cleanness,
simplicity and safe in operation. In recent years, the
accessibility of low-cost microprocessors and pneumatic
components has made the use of more complicated
control methods in pneumatic system control possible.
Many researchers, therefore, have started using pneumatic
actuators, such as servo-controlled pneumatic systems
[13], to work on more complicated motion control tasks.
Although a pneumatic actuator is inexpensive and simple
when compared with electromechanical actuators of equal
power, it is still not competitive in a few applications that
demand accuracy, versatility and exibility. This is due
to some inherent disadvantages of a pneumatic actuator,
including its non-linearity, low natural frequency resulting
from low stiffness of the air compressibility and complex
because of its low damping associated with non-linearities,
time-varying effects and position dependency.
To resolve the above-mentioned disadvantages, Bobrow
and Jabbari [4], Oyama et al. [5], and Smaoui et al. [6]
IET Control Theory Appl., 2012, Vol. 6, Iss. 11, pp. 16991714
doi: 10.1049/iet-cta.2011.0434

adopt the conventional direct and indirect self-tuning and

model reference adaptive control scheme. The performances
of their control schemes fully depend on the accuracy of the
dynamic model, which is, in general, hard to attain. This
study proposes a new adaptive model-based control method
to overcome the models dynamic variation problem.
The sliding-mode control (SMC) method has been
adopted to handle system non-linear behaviours, model
uncertainty and external disturbance, for example pneumatic
systems non-linearity, un-modelled dynamics and bounded
disturbances [79]. However, the conventional SMC
controller design is model based and, therefore, is dictated
by a varying system model and an uncertain border
of system-related parameter values. To deal with these
uncertainty problems, several functional approximation
techniques have been used. Huang and Kuo [10] suggest
an adaptive sliding controller using a Fourier seriesbased functional approximation technique to handle a nonlinear system containing time-varying, uncertain parameters.
Tsai and Huang [11] designed a multiple-surface sliding
controller with a function approximation technique to control
a pneumatic servo system that encounters a time-varying
load. Cao and Xu [12] developed a repetitive variablelearning structure control based on the technique for a
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Fourier series approximation for a hard disk drive servo. A
feed-forward control law developed from a Fourier seriesbased iterative algorithm was proposed by Cai and Huang
[13] to converge states to a stable sliding surface. The
errors incurred from the above-mentioned approximations
are related to the number of Fourier series basis functions
and the weighting vector. The said number is rather difcult
to determine for a pre-specied approximation accuracy.
Furthermore, the computational burden also exponentially
increases with the rise of the number, often hindering
practical implementation. The neural network (NN)-based
control method [1416] is also regarded as a powerful
control technique for real-time control because of its ability
to learn, adapt and approximate non-linear functions to
desired degrees of accuracy [15, 17]. Although an adaptive
NN controller has been successful in many applications,
some difculties still exist, for example, determination
of the network structure, selection of parameters of the
activation function and the stability analysis of the closedloop system. Another challenging problem for the NN-based
control is selecting a suitable structure for the network
that can approximate the unknown non-linear dynamics. If
the network does not have enough layers and neurons, it
will perhaps have the problem of ensuring the parameters
converge to their optimal values.
Recently, wavelet theory has attracted huge attention
because of the advantage of accurately approximating
functions that have discontinuities and sharp peaks [18].
Wavelets have been applied in signal processing, multi-scale
phenomena modelling and pattern recognition. Wavelets
are well suited to depicting functions with local nonlinearities and rapid variations because of their intrinsic
properties of nite support and self-similarity. As a result,
wavelet theory could have useful applications in nonlinear control system design. The Haar wavelet function
was introduced by Alfred Haar in 1910 in the form of
the simplest orthogonal series with compact supports [19].
Therefore the computation time of the Haar wavelet should
be shorter than that of other wavelets, such as the Shannon,
Daubechies and Legendre wavelets. These characteristics
make Haar wavelets good candidates for applications to
non-linear function approximation and real-time control.
The orthogonal Haar wavelet [2022] was proposed to
approximate non-linear functions because of its property
of universal approximation and the ability of local tuning.
In [20], the orthogonal Haar wavelet has proved that it
can approximate any continuous functions f (w) L2 as
the form of an unique linear combination of orthogonal
wavelets of different resolutions. Chen, Hsiao, Lai and Chen
proposed a system identication algorithm for linear timeinvariant and time-varying systems [23]. Roger Ghanem and
Francesco Romeo proposed a Haar wavelet-based approach
for identifying linear time-varying and non-linear dynamical
systems [24, 25].
Feedback linearisation techniques for non-linear control
system design have been developed in the last two decades
[26]. However, these techniques can only apply to nonlinear systems where the parameters are exactly known.
If a non-linear system contains unknown or uncertain
parameters, the feedback linearisation is no longer utilisable.
In this situation, adaptive strategies are used to simplify
this problem and allow suitable solution. Currently, there
are many adaptive control system design techniques based
on feedback linearisation schemes for non-linear systems
in the literatures [27, 28]. These models simplify nonlinear systems by assuming either linear or non-linear
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parameterised structures. However, these assumptions are

not sufcient for many practical applications.
This paper combines the characteristics of wavelets,
feedback linearisation techniques, sliding-mode control
theory, adaptive control scheme and H tracking design
technique to solve the tracking control design problem for
non-linear pneumatic servo systems with bounded unknown
parameters and external disturbances. First, an inversionbased non-linear controller obtains of feedback linearisation
technique under the assumption the system parameters
are known a priori. Second, the structure of waveletbased adaptive sliding-mode controller is developed using
the so-called certainty equivalent principle of adaptive
control theory [29]. At this point we consider appropriate
techniques to eliminate the effect of approximation errors
and disturbances to achieve a desired control objective.
The H tracking design technique is employed to treat
this attenuation problem. The wavelet-based adaptive SMC
law and the parameter update algorithms are derived from
a Lyapunov function to guarantee system stability. The
proposed method not only is robust against approximate
errors, disturbances and un-modelled dynamics, but also
guarantees a desired H tracking performance for the
overall system. Moreover, control chattering inherent in
a conventional SMC system can be signicantly reduced.
The test results indicate the proposed Haar waveletbased adaptive sliding-mode controller with H tracking
performance (HWB-ASMC + H ) can make the pneumatic
servo system follow the desired position tracking proles
and meet the required accuracy.

2 Dynamic model of the pneumatic

servo system
The test rig of the pneumatic servo system is shown in
Fig. 1. To analyse the dynamic behaviours of a pneumatic
system, we obtain the mathematical models for the three
system components [30, 31], including the proportional
servo valve, the pneumatic cylinder and the mass load. The
specication of the pneumatic servo system used in the
experiment is shown in Table 1. The coordinate system
illustrated in Fig. 2 is adopted and the pneumatic servo
system is modelled as a fourth-order non-linear system [3]
x 1 = x2
(1a)
1
x 2 = [Kf x2 Ksc (x1 )S(x2 , x3 , x4 ) + A(x3 x4 )] (1b)
M
PC-based control unit
rodless pneumatic cylinder

decoder IC
pressure regulator

Proportional servo valve

granite air cushion unit

Fig. 1

Rodless pneumatic servo system

IET Control Theory Appl., 2012, Vol. 6, Iss. 11, pp. 16991714
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Table 1 Main components specifications of the test rig
Components

Specifications

pneumatic rodless cylinder

proportional servo valve
optical encoder

PC-based controller
A/D D/A cards

diameter: 25 mm
stroke: 600 mm
valve function: 5/3-way
input: 55 V
range: 320 mm
decoder IC: HTCL-2032
resolution: 20 nm
Pentium III CPU
RAM: 512 MB
12 bit A/D 16 CH
12 bit D/A 6 CH
D/I, D/O 16 CH

M : payload (kg),
Pu : up-stream pressure (N/m2 ),
Pd : down-stream pressure (N/m2 ).
Besides
k/(k1)

2
Cr =
= 0.528
k +1
and


2
k 1

Ck =

x 4 =

k[x2 x3 (RTS /A)Cd C0 wf (x3 , Ps , Pe )u]

x1 + 
k[x2 x4 (RTS /A)Cd C0 wf (x4 , Ps , Pe )u]
l x1 + 

Fig. 2

(k+1)/(k1)
= 3.864

(2)

(1c)
(1d)

where x1 = x, the piston position; x2 = x ; x3 = Pa , chamber

a pressure; x4 = Pb , chamber b pressure; the control input u
indicates the spool displacement of valve , u = ; Ksc (x1 )
denotes a combination of the static and dynamic frictions.
The other parameters and values used in the system model
are listed below:
A: piston area (m2 )
Cd = 0.8: discharge coefcient,
C0 : ow constant,
: the general residual chamber volume,
Kf : viscous frictional coefcient,
Patm : atmospheric pressure (N/m2 ),
l: stroke (m) and x [0, l],
pr : ratio between down- and up-stream pressure,
R = 287 : universal gas constant J/(kg K),
Pe = 1 105 : exhaust pressure (N/m2 ),
Ps = 6 105 : supply pressure (N/m2 ),
Ts = 293 : cylinder air temperature (K),
k = 1.4 : specic heat constant,
V : volume (m3 ),
W : port width (m),

k +1
2

The functions in (1a)(1d) are dened as

Patm

< pr Cr
f (pr ) = 1,
P
C [p2/k p((k+1)/k) ](1/2) , C u< p < 1
k

x 3 =

f (x3 , Ps , Pe )

 
x3

Ps f

P
s

, as chamber a is the driving chamber

Ts
 
=
Pe

x3 f

x3

, as chamber b is the driving chamber

Ta
(3)
and
f (x4 , Ps , Pe )

 
Pe

x
f
4

T
b 
=
x4

Ps f

Ts

as chamber a is the driving chamber

as chamber b is the driving chamber

(4)

where pr = Pd /Pu is the ratio between the downstream

and the upstream pressures at the orice. The term,

Rodless pneumatic servo system schema

IET Control Theory Appl., 2012, Vol. 6, Iss. 11, pp. 16991714
doi: 10.1049/iet-cta.2011.0434

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Fig. 3

Graph of Haar function

Kf x2 Ksc (x1 ) S(x2 , x3 , x4 ), in (1b) is the summing

effects of the system static and dynamic friction forces,
where (see equation at the bottom of the page)
Ks (x1 ) indicates the position-dependent static frictions;
Kc (x1 ) is the variable position-dependent load via friction
effects. Further details of the friction can be found in
[30, 32]. The piston position and velocity are expected to
follow a trajectory or prole for servo control. If x1 is chosen
as a system output, the tracking problem will become an
output tracking problem.

For example, the third subplot in Fig. 3 is formed by

compression 1 (t) to left half of its original interval and the
forth subplot is the same as the third one plus translating to
the right side by 1/2. In general, we can write out the Haar
wavelet family as

i (t) =

1,

1,


k k + 0.5
,
t
n
n


k + 0.5 k + 1
t
,
n
n
elswhere

(9)

Haar wavelets

The basic and simplest form of Haar wavelets is the Haar

scaling function that appears in the form of a square wave
over the interval t [0, 1) as expressed in (6) and illustrated
in the rst subplot of Fig. 3 [18]

1, 0 t < 1
0 (t) =
(6)
0 elsewhere
The above expression, called Haar father wavelet, is the
zeroth level wavelet which has no displacement and dilation
of unit magnitude. Correspondingly, there is a Haar mother
wavelet to match the father wavelet which is described as

1,
0t<

2
1
1 (t) =
(7)
1, 0 t <

0
elswhere
The Haar mother wavelet is the rst level Haar wavelet
and its graph is given in the second subplot of Fig. 3.
This mother wavelet can also be written as the linear
combination of the Haar scaling function with translation
and compression to half of its original interval
1 (t) = 0 (2t) 0 (2t 1)

(8)

Similarly, the other levels of wavelets can all be generated

from 1 (t) by the operations of translation and compression.

Ksc (x1 )S(x2 , x3 , x4 ) :=

Here n is the level of the wavelet, we assume that the

maximum level resolution is integer M , then n equals
to 2j (j = 0, 1, . . . , M ); the translation parameter k =
0, 1, . . . n 1. The series index number i is dened by n
and k and i = n + k. For any xed level n, there are n
series of i to ll the interval [0, 1) corresponding to that
level and for a provided M , the index number i can reach
the maximum value N = 2M +1 when including all levels
of wavelets. Each Haar wavelet is composed of a couple
of constant steps of opposite sign during its subinterval
and is zero elsewhere. Therefore they have the following
relationship

1
i (t)l (t) dt =
0

2j , i = l = 2j + k
0,
i = l

This relationship shows that Haar wavelets are orthogonal

to each other and therefore constitute an orthogonal basis.
This allows us to transform any function square integrable
on the interval time [0, 1) into Haar wavelets series.
3.1

Function approximation by Haar wavelets

We just pointed out that a square integrable function can be

expressed in terms of Haar orthogonal basis on interval
[01) [18]. However, before the procession to this transfer, it
is necessary to unify the time interval. By using a linear
transformation, the actual time t can be expressed as a

as x2 = 0 and |A(x3 x4 )| Ks (x1 )

A(x3 x4 )
Kc (x1 )sign(x2 ) as x2  = 0 or |A(x3 x4 )| > Ks (x1 )

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(10)

(5)

IET Control Theory Appl., 2012, Vol. 6, Iss. 11, pp. 16991714
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function of via

servo system in (1), the system can be expressed as

t = [(tf t0 ) + t0 ]

x = f (x) + g(x)u

(11)

where t0 is the initial time and tf is the nal time in a square

integrable function f (t). The objective is to write this f (t) in
the form of Haar wavelets expansion series with coefcients,
that is
N 1

f (t) =
(12)
ai i (t) = AT W(t)

(15)

y = h(x) = x1
where the state vector x and control input u are

x1
x2
x  ,
x3
x4

u=

(16)

i=0

where the coefcient vector A = [a0 , a1 , . . . , aN 1 ]T and

W(t) = [0 (t), 1 (t), . . . , N 1 (t)]T . In the vector A, each
coefcient ai is determined by

and the corresponding vector elds f (x) and g(x) are

described as

f (t)i (t) dt

(13)

and it is expected to approximate the function f (t) with

minimum mean integral square error dened as
1
(f (t) AT W(t)) dt

(14)

Obviously, should reduce when the level N gets larger and

it should go close to zero when N approaches innite.

Controller design and stability analysis

In the controller design, we apply feedback linearisation

to develop a Haar wavelets-based model-free sliding-mode
controller for the position tracking control of a pneumatic
servo system; the H tracking design technique is also
introduced in the proposed model-free sliding controller
to handle the function approximation errors, un-modelled
dynamics and disturbances. The controller design and
stability analysis follow next.
4.1 Feedback linearisation of the
inputoutput map

where
F(x) =

Kf2 x2 Kf A(x3 x4 )
M2
Akx2 [x3 (l x1 + ) + x4 (x1 + )]

M (x1 + )(l x1 + )

4.2 Design of wavelet-based adaptive

sliding-mode controller
As mentioned, an inputoutput linearisation requires a
mathematical model, otherwise the differentiation procedure


Akx2 [x3 (l x1 + ) + x4 (x1 + )]
=
+
=

M2
M (x1 + )(l x1 + )


kRTS Cd C0 w[f (x3 , Ps , Pe )(l x1 + ) + f (x4 , Ps , Pe )(x1 + )]
+
u  F(x) + G(x)u
M (x1 + )(l x1 + )


where f (x) and g(x) are unknown and smooth vector

functions on the set  4 ; y = h(x) (0, l) . Let Lf h
and Lg h be the Lie derivatives of h with respect to f and g.
Since Lg Lfk h(x) = 0 for all k < 3 and Lg Lfk h(x)  = 0 for all
k 3 (x), the relative degree of the system is 3 and we
obtain [33] (see (17))

Owing to (see equation at the bottom of the page).

According to [33], we can linearise a single-input

single-output system by differentiating its output. For
convenience in analysis, we can initially neglect the static
friction forces and bring back later as uncertainties. By
applying the feedback linearisation theory to a pneumatic

(3)

Lf3 h(x)

Lg Lf2 h(x)u

G(x) =

1 [K x + A(x x )]
f 2
3
4

k(x2 x3 )
f (x) 

x1 + 

k(x2 x4 )
l x1 + 

0
0

kRTS Cd C0 wf (x3 , Ps , Pe )

g(x) 

A(x1 + )

kRT C C wf (x , P , P )
4
s
e
S d 0
A(l x1 + )

1
ai = 2j

x2

Kf2 x2 Kf A(x3 x4 )

(17)

kRTS Cd C0 w[f (x3 , Ps , Pe )(l x1 + ) + f (x4 , Ps , Pe )(x1 + )]

M (x1 + )(l x1 + )

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If e = [e(t), . . . , e(n2) (t)]T = [e1 (t), . . . , en1 (t)]T , the error
dynamics will become

cannot be performed; to estimate an accurate dynamic model

for the controller design is, nevertheless, hard to reach. To
resolve this problem, we propose that the non-linear timevarying F(x) and G(x) in (17) can be treated as unknown
functions and that we use Haar wavelets to approximate the
functions for the controller design. The adaptive laws of the
coefcient vector can be derived from Lyapunov stability
theorem. To gain a generalised result, we make the following
assumption next.

e = A1 e + [0, . . . , 0, s]T
where

0
0
A1 =
...
a1

Assumption: (i) The non-linear system expressed in (15) has

a relative degree of n, (ii) the control u appears linearly with
respect to y(n) , that is
y(n) = F(x) + G(x)u

where F and G are unknown time-varying functions; G  = 0

for x in some controllable region Uc and (iii) the internal
dynamics of the system with the following adaptive slidingmode controller are stable.

T =  sW (t)
A
1
F
F
T =  sW (t)u
A
G
2
G

V =

(21)

n
i1
where ai are chosen such that
is a Hurwitz
i=1 ai
polynomial. Equation (21) implies that

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i=1

(27)

= s[y(n) (t) ym(n) (t) + an1 en (t) + + a1 e2 (t)]

1

TF 1
T 1
eT Qe + [0, . . . , 0, s]Pe A
1 AF AG 2 AG
2

e(n1) (t) = a1 e(t) a2 e (t) an1 e(n2) (t) + s (22)

n1

1 2 1 T
1 T 1
1 T 1
s + e Pe + A
F 1 AF + AG 2 AG
2
2
2
2

1
1

TF 1
T 1
V = ss + e T Pe + eT Pe + A
1 AF + AG 2 AG
2
2
1 T T
= ss + [e A1 + [0, . . . , 0, s]]Pe
2
1 T

TF 1
T 1
+ e P[A1 e + [0, . . . , 0, s]T ] A
1 A F A G 2 A G
2
= s[e(n) (t) + an1 e(n1) (t) + + a1 e (t)]
1
1
1
eT Qe + [0, . . . , 0, s]Pe + eT P[0, . . . , 0, s]T
2
2
2
T 1
T 1
F A
G
F 1 A
G 2 A
A

Let us dene a sliding surface as

(26)

F = AF A
F , and A
G = AG A
G , the time
where A
derivative of (29) becomes

(20)

F WF (t)
A

(25)

where 1 and 2 (1 > 0 and 2 > 0) are the adaptation

gain matrix, the following result holds for s and e : s 0
and e 0 as t .
Taking the Lyapunov function

where WF (t) and WG (t) are the basis of orthogonal

Haar wavelets vector, AF and AG are the coefcient
vectors of Haar wavelets series, wt = F (t) + G (t)u, the
lumped uncertainty. The terms ATF WF and ATG WG will
produce, as a well-know fact, an optimal mean square
approximation to the uncertain time-varying functions F(x)
and G(x), respectively. In designing the controller, the
lumped uncertainty is generally assumed to have an upper
bound, that is |wt | wtu ; this is to force the system output,
y(t), to follow a given bounded reference signal ym (t). The
output tracking error can be written as

u=

0
0
..
.
an1

with s being the sliding surface dened in (21); p(n1)i being

elements of P in (25); Q > 0 being given and the adaptive
laws being chose as

(19)

an = 1

..
.

AT1 P + PA1 = Q

y(n) = (ATF WF (t) + F (t)) + (ATG WG (t) + G (t))u

s = a1 e(t) + a2 e (t) + + an e(n1) (t),

0
1
..
.
a3

TF and A
TG are the estimates of ATF and ATG ,
where A
respectively. P > 0, P R(n1)(n1) , satises the Lyapunov
matrix equation

In our experimental system, the unknown functions F(x)

and G(x) in (17) are bounded, because the states, the piston
position x1 , the derivative of piston position x2 , the chamber
a pressure x3 and the chamber b pressure x4 are limited
by the design of tests rig and restricted control outputs
u [5 V, 5 V]. Therefore F(x) and G(x) are unknown
bounded piecewise continuous functions and satisfy the
square integrable in the interval [0, 1), so they can be
expressed in the form of Haar wavelets expansion series
with coefcients as shown in (14). Equation (17) hence can
be rewritten as

e(t) = y(t) ym (t)

1
0
..
.
a2

Consider the non-linear system (17) with uncertain nonlinear functions F(x) and G(x), which is approximated
as (19). Suppose Assumptions (i)(iii) are satised and
following similar derivations in [34], we can obtain a control
law for (20) by using the sliding-mode control method, the
control input is chosen as (see (24))

(18)

= ATF WF (t) + ATG WG (t)u + wt

(23)

ai ei+1

n1

i=1 p(n1)i ei
T
G WG (t)
A

+ ym(n) (t) kp sgn(s)

(24)

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assume a lumped uncertainty so that wt L2 [0, T ], T
[0, ). Hence, the control input is chosen as (see (30))

= s[F(x) + G(x)u ym(n) (t) + an1 en (t) + + a1 e2 (t)]


1

TF 1
T 1
eT Qe + s
p(n1)i ei (t) A
1 A F A G 2 A G
2
i=1


n1

T
T
(n)
= s AF WF (t) + AG WG (t)u + wt ym (t) +
ai ei+1 (t)
n1

and that the adaptive laws can be expressed as (26) with

( > 0) being the design constant for the attenuation level,
s being the sliding surface dened in (21) and p(n1)i being
elements of P in (25), the H tracking performance for the
overall system will satisfy the following relationship

i=1
n1


TF 1
T 1
eT Qe + s
p(n1)i ei (t) A
1 A F A G 2 A G
2
i=1

 T
T

TG + A
TG )WG (t)u + wt

= s AF + AF WF (t) + (A

n1
n1


1
(n)
ai ei+1 (t) eT Qe + s
p(n1)i ei (t)
ym (t) +
2
i=1
i=1

T 1
TF 1
A
1 A F A G 2 A G

TG WG (t)u + wt ym(n) (t) +
TF WF (t) + A
=s A

n1


1
2

1
eT Qe + s
2

ai ei+1 (t)

V =

1
1 AF ) + AG (sWG (t)u 2 AG )
T

(28)

Applying (24) and (26) to (28) and letting kp = k1 + wtu ,

k1 > 0, we obtain the following relationship
1
1
V kp |s| eT Qe + swt k1 |s| eT Qe 0 (29)
2
2

= s[y(n) (t) ym(n) (t) + an1 en (t) + + a1 e2 (t)]

1

TF 1
T 1
eT Qe + [0, . . . , 0, s]Pe A
1 AF AG 2 AG
2
= s[F(x) + G(x)u ym(n) (t) + an1 en (t) + + a1 e2 (t)]

Using Barbalats lemma, (29) implies s 0 and e 0

as t . Referring to [3538], the adaptive law (26) is
derived from (28) in the sense of Lyapunov theorem. A
compensated control input kp sgn(s) is used to compensate
the approximation error wt . Therefore the stability of overall
system can be guaranteed.

TF 1
T 1
eT Qe + s
p(n1)i ei (t) A
1 AF A G  2 A G
2
i=1


n1

T
T
(n)
= s AF WF (t) + AG WG (t)u + wt ym (t) +
ai ei+1 (t)
n1

4.3 Design of a wavelets-based adaptive

sliding-mode controller with H tracking
performance

i=1

To ease the adverse effects caused by approximate errors,

un-modelled dynamics and disturbances prior to constructing
the control input u, the H tracking design technique
and the wavelet-based functional approximation technique
are incorporated into the SMC method. However, we
cannot generally specify the actual upper bound wtu for the
approximation errors in practice. The upper bound wtu can
attenuate the uncertainties if chosen suitably; otherwise a
large control chattering would occur. To solve the problem,
we set up a new control law using the H tracking design
technique based on a more relaxed assumption; we also
F WF (t)
A
T

(32)

1
1

TF 1
T 1
V = ss + e T Pe + eT Pe + A
1 A F + A G 2 A G
2
2
1
= ss + [eT AT1 + [0, . . . , 0, s]]Pe
2
1 T

TF 1
T 1
+ e P[A1 e + [0, . . . , 0, s]T ] A
1 AF AG 2 AG
2
= s[e(n) (t) + an1 e(n1) (t) + + a1 e (t)]
1
1
1
eT Qe + [0, . . . , 0, s]Pe + eT P[0, . . . , 0, s]T
2
2
2
T 1
T 1

A F 1 A F A G 2 A G

1
1 AF )

G (sWG (t)u 1
+A
2 AG )

u=

1 2 1 T
1 T 1
1 T 1
s + e Pe + A
F 1 A F + A G 2 A G
2
2
2
2

the time derivative of the Lyapunov function can be

written as

i=1

= s[wt kp sgn(s)] +

1 2
1 T
1

(0)1
s (0) + eT (0)Pe(0) + A
1 AF (0)
2
2 F
2

1 T
1 2 T 2
1
+ AG (0)2 AG (0) +
wt ( ) d
(31)
2
2
0

F and A
G = AG A
G.
F = AF A
where A
According to the Lyapunov function

F (sWF (t)
p(n1)i ei (t) + A

TF (sWF (t)
A

eT ( )Qe( ) d
0

i=1
n1


T

n1
i=1

1
eT Qe + s
2


TF 1
T 1
p(n1)i ei (t) A
1 A F A G 2 A G

i=1

TF + A
TF )WF (t) + (A
TG + A
TG )WG (t)u + wt ym(n) (t)
= s (A
+

n1

i=1


1
ai ei+1 (t) eT Qe + s
p(n1)i ei (t)
2
i=1
n1

1
F 1
A
1 A F A G 2 A G
T

ai ei+1

IET Control Theory Appl., 2012, Vol. 6, Iss. 11, pp. 16991714
doi: 10.1049/iet-cta.2011.0434

n1


n1

i=1 p(n1)i ei
T
G WG (t)
A

+ ym(n) (t) (s/2 2 )

(30)

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Overall scheme of the HWB-ASMC + H

Fig. 4


TG WG (t)u + wt ym(n) (t)
TF WF (t) + A
=s A
+

n1

i=1


1
ai ei+1 (t) eT Qe + s
p(n1)i ei (t)
2
i=1
n1

T
TF (sWF (t) 1
+A
1 AF ) + AG (sWG (t)u 2 AG )
Substituting (26) and (30) into (33), we arrive
2

1
1
1 s
V = eT Qe
wt + 2 wt2
2
2
2
1 T
1 2 2
e Qe + wt
2
2

(33)

e 2

wt 2
(34)

Integrating (34) from t = 0 to T , we obtain

T
T

1
1 T T
e ( )Qe( ) d + 2 wt2 d
V ( ) d
2 0
2
0
0
T
T
1
1
eT ( )Qe( ) d + 2 wt2 d
V (T ) V (0)
2 0
2
0
T
1
0 V (T ) V (0)
eT ( )Qe( ) d
2 0
T
1
+ 2 wt2 d
2
0
T

1 T T
1
0 V (0)
e ( )Qe( ) d + 2 wt2 d
2 0
2
0
T
T
1
1

eT ( )Qe( ) d V (0) + 2 wt2 d

(35)
2 0
2
0
Substituting (32) into (35), we achieve a H tracking
performance satisfying

1 T T
e ( )Qe( ) d
2 0
1
1
1 T

s2 (0) + eT (0)Pe(0) + A
(0)1
1 AF (0)
2
2
2 F

1 T
1 2 T 2
1
+ AG (0)2 AG (0) +
wt d
(36)
2
2
0
As shown in (30), the design constant , serving as an
attenuation level, will need to be pre-specied during the
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design process. The constraint on setting an upper bound

wtu for the unknown lumped uncertainties in (19) is, thus,
removed. Furthermore, the chattering effect of the control
input is substantially reduced with this method because the
term k sgn(s) related to the control chattering in (24) is
replaced by a much smoother term s/2 2 in (30) for the
derived control law.
If a set of the initial conditions of e, s, AF and AG
F (0) = AF (0) and A
G (0) = AG (0))
(e(0) = 0, s(0) = 0, A
are available, and Q = I, the overall systems control
performance will satisfy
(37)

T
T
where e 22 = 0 eT ( )e( ) d , wt 22 = 0 wt2 ( ) d . In
other words, an arbitrary attenuation level is obtainable if
is adequately chosen. Fig. 4 shows the overall scheme of
the HWB-ASMC + H .

Experiments

To show the effectiveness of the proposed controller,

we next present the test results of tracking control
in a pneumatic servo system. In the experimental
implementation, two desired path trajectories, namely a
periodic sinusoidal function and a fth-order polynomial
function, are chosen for the path tracking control. Besides,
the robustness tests are also performed for verifying the
proposed control strategy.
5.1

Test rig layout

The test rig is set up as shown in Figs. 1 and 2. The

pneumatic servo system, comprising a rodless pneumatic
cylinder, a proportional servo valve, a granite air cushion
and a PC-based control unit, is constructed. An optical linear
scale with a resolution of 20 nm is installed to measure the
pistons position. The linear scales measured signals are
feedback to the control PC via a decoder IC, HCTL-2032
and a digital I/O converter. The PC-based control system
is implemented on a Pentium III CPU with an interface
card PCL-726 which contains D/A converters and digital
I/O converter. The input voltage for the proportional servo
valve comes from the control PC via the D/A converter and
the control law is calculated by a 32-bit Open Watcom C
language program.
IET Control Theory Appl., 2012, Vol. 6, Iss. 11, pp. 16991714
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5.2

The test system is a pneumatic system regulated by

a pneumatic proportional servo valve. In order to reduce
the system cost, instead of using acceleration sensor, we
obtain the estimated velocity and acceleration are derived
from, respectively, differentiating the position and velocity
with respect to time numerically, the signals are subject
to disturbances from the numerical difference operation; a
digital lter expressed as follows is, hence, introduced to
resolve this problem
yout (i) = 0.7yout (i 1) + 0.15[yin (i) + yin (i 1)]

Test results of sinusoid trajectory

The desired sinusoid path trajectory is dened as

ym (t) = 50 + h[1 sin((t/T )2 )]

(39)

where the amplitude h = 100 mm and the period T = 4 s.

For comparison, the test of the position tracking control
related to the HWB-ASMC and the HWB-ASMC + H
are performed. The position responses, tracking errors and
control efforts related to the HWB-ASMC control with
a sinusoidal path tracking prole as in (39) are shown
in Fig. 5. Although the desired tracking responses can
be achieved, the chattering problem shown in Fig. 5c
occurs seriously, which results in high-frequency switching
of the servo valve and reduced the servo valves life
duration. Fig. 6a shows the position tracking response
related to the HWB-ASMC + H control, where the dotted
line indicates the target trajectory and the solid line denotes
the tracking results. Fig. 6b shows the tracking error,
where the maximum tracking error can be reached about
2 mm. The control input is shown in Fig. 6c. Therefore the
desired tracking performance can be achieved; furthermore,
the chattering phenomena in the control input, as shown in
Fig. 6c, are signicantly reduced. In order to compare the
test results, Fig. 7 schematically depicts
the comparison of

integral of absolute error, IAE = |e(t)|dt, for the position
tracking error of the periodic sinusoidal tracking control of
HWB-ASMC and HWB-ASMC + H . It is obvious that
the proposed HWB-ASMC + H can perform much lower
IAE in comparison with HWB-ASMC. Thus, the HWBASMC + H control performs superiorly in controlling the
servo system.

(38)

where yout (t) stands for the lters output signal, whereas
yin (t) is the sensors data measured with respect to
piston position. The control signal comes from the input
voltage of the proportion servo valve. To evaluate the
control performance of the proposed HWB-ASMC + H ,
the following tests are performed.
To evaluate the control performance of the proposed
HWB-ASMC + H , the following tests are performed. The
sampling frequency is set at 1 kHz and the attenuation level
is set at = 0.2 in the control law, that is (30). The
sliding

1 2
surface is dened as s = e + 5e + 40e and Q =
.
2 5
The gain matrixes 1 and 2 for the wavelet-series function
coefcients are set as constant matrices: 1 = 83[I ] and
2 = 1.25 104 [I ], respectively. The rst 16 terms of
the wavelet-series functions are chosen as the functional
approximation basis functions. Initial values of Haar
F and A
G are [0, 0, . . . , 0]116
wavelet-series coefcients A
and [20 000, 0, . . . , 0]116 , respectively.

Fig. 5

Experimental results of HWB-ASMC for periodic 0.25 Hz sinusoidal path with amplitude 100 mm

a Position control response

b Control error
c Control input
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Fig. 6

Experimental results of HWB-ASMC + H for periodic 0.25 Hz sinusoidal path with amplitude 100 mm

a Position control response

b Control error
c Control input

Fig. 7

Comparison of IAE of tracking error for periodic sinusoidal tracking control of HWB-ASMC and HWB-ASMC + H

Remark 1: In our experimental results of the HWB-ASMC

(without the H condition), a compromise control output
between keeping good tracking performance and attenuating
the damage of the servo valve, which is caused by the
chattering effect, has to be decided. This chattering effect
is usually affected by over-supplying control output, that is
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u < 4 V or u > 4 V in our experiment, and high-frequency

switching control. By doing time-consuming and trial-anderror method, Fig. 4 shows the tracking error is satised
under the sustainable control force of HWB-ASMC. If we
increase control force of HWB-ASMC, the phenomenon of
chattering effect will be too huge to wear out the servo valve.
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Fig. 8

Experimental results of HWB-ASMC + H for exponentially decreasing 0.25 Hz sinusoidal path

a Position control response

b Control error
c Control input

Fig. 9

Experimental results of HWB-ASMC + H for exponentially decreasing 0.5 Hz sinusoidal path

a Position control response

b Control error
c Control input

5.3

Test results of different trajectories

5.3.1 Exponentially decreasing 0.25 Hz sine wave:

To verify the HWB-ASMC + H control, we next test
the performance of the exponentially decreasing sine-wave
IET Control Theory Appl., 2012, Vol. 6, Iss. 11, pp. 16991714
doi: 10.1049/iet-cta.2011.0434

trajectory covering 50% of the actuator stroke. The position

response, the control effort and the tracking error related to
the HWB-ASMC + H for two various sine-wave trajectory
commands (0.25 and 0.5 Hz) are displayed in Figs. 8
and 9, respectively. The desired and tracking trajectories
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Fig. 10
a
b
c
d

Experimental results of HWB-ASMC + H for fth-order polynomial path with stroke of 200 mm in 5 s

Position control response

Control error
Control error zoom out
Control input

are shown in Figs. 8a, and 9a, where the solid lines
represent the desired trajectories and the dotted lines are
the tracking results. Figs. 8b and 9b show that the control
error is bounded. Experimental results clarify that the HWBASMC + H can achieve excellent control performance
with small chattering for the exponentially decreasing sinewave tracking control.
5.3.2 Trajectory of a fifth-order polynomial function:
For further validate the HWB-ASMC + H control, we give
the desired path trajectory with a fth-order polynomial
function, described as follows [39]
  3
 4
 5 

t
t
h 10 t
, 0 t < tf
15
+6
ym (t) =
tf
tf
tf

h,
tf t
(40)
where h is the desired stroke; tf denotes the desired duration;
ym indicates the desired path and t is the time which is set
to 0 at the beginning of each position tracking cycle.
The position tracking control response, the control efforts
and the tracking errors related to the HWB-ASMC + H
control for fth-order polynomial function with target of
200 mm is shown in Fig. 10. The desired and tracking
trajectories are shown in Fig. 10a where the solid lines
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indicate the desired trajectories and the dotted lines the

tracking result. Fig. 10b shows that the path tracking error is
bounded and is converged well. According to the test results,
the H tracking control in HWB-ASMC + H can not only
perform excellent tracking responses but also reduce the
chattering phenomenon.
5.3.3 Additional position tracking profile: An
additional position tracking prole combining a sinusoid
wave with a ramp function is given for position tracking
control of the HWB-ASMC + H , as shown in Fig. 11, in
which the position tracking error can be controlled within
2 mm.
5.4

Robustness tests

In Fig. 6, the tracking HWB-ASMC designed for the Festo

rodless cylinder with a payload M = 6 kg can achieve the
tracking responses. However, the chattering problem in
the control input occurs seriously, which results in highfrequency switching of the servo valve and reduces the
servo valves life duration, as shown in Fig. 5c. To test the
robustness to the variation of the payload for our proposed
HWB-ASMC + H , we use two examples: (i) the weight
of payload is 6 kg; and (ii) the weight of the payload
increases to 13 kg. Two different desired trajectories are
applied. One is the 0.25 Hz periodic sinusoidal path with
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Fig. 11

Experimental results of HWB-ASMC + H for additional position tracking prole

a Position control response

b Control error
c Control input

Fig. 12 Experimental results of HWB-ASMC + H for periodic 0.25 Hz sinusoidal path with amplitude 100 mm and payload changed
from 6 to 13 kg
a Position control response
b Control error
c Control input

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Fig. 13 Experimental results of HWB-ASMC + H for fth-order polynomial path with stroke of 200 mm in 5 s and payload changed
from 6 to 13 kg
a
b
c
d

Position control response

Control error
Control error zoom out
Control input

Fig. 14 Comparison of IAE of tracking error for periodic sinusoidal tracking control of HWB-ASMC, HWB-ASMC + H and
HWB-ASMC + H with payload changed from 6 to 13 kg
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amplitude 100 mm and the other is the fth-order polynomial
function path with stroke of 200 mm. Fig. 12 shows the
trajectory tracking responses, control efforts and tracking
errors of the sinusoidal trajectory with the payload changed
from 6 kg, as in Fig. 6, to 13 kg. For the proposed HWBASMC + H , only a slight increase (about 1.8 mm) in the
tracking error occurs in Fig. 12 when the payload changes.
Observing Figs. 5 (HWB-ASMC), 6 (HWB-ASMC + H
with a 6 kg payload), 12 (HWB-ASMC + H with a 13 kg
payload) and 14, we can nd that the robustness of the
proposed the HWB-ASMC + H control is better than that
of the HWB-ASMC control. Fig. 14 shows the position
responses, control efforts and tracking errors of the fthorder polynomial function path with the stroke of 200 mm
with payloads changed from 6 kg, as in Fig. 10, to 13 kg.
Change of the payload only results in a minor increase in
the tracking error. Observing Figs. 10 (HWB-ASMC + H
with a 6 kg payload) and 14 (HWB-ASMC + H with a
13 kg payload), we can nd that the robustness of the
proposed the HWB-ASMC + H control is also better than
that of the HWB-ASMC control. In order to compare the
test results, Fig. 14 schematically depicts the comparison of
integral of absolute error, IAE = |e(t)| dt, for the tracking
error of the 0.25 Hz periodic sinusoidal tracking control of
HWB-ASMC, HWB-ASMC + H and HWB-ASMC + H
with the payload changed from 6 to 13 kg. Experimental
results demonstrate that the HWB-ASMC + H is effective
and IAE is reduced by 36% on average compared with
HWB-ASMC that without mass variation consistently.
Remark 2: The main purpose of this paper is to enhance
the stability, reliability and working performance of the
pneumatic servo system. To achieve this goal, we have to
attenuate the damage of servo valve caused by chattering.
Hence, the H tracking technique is incorporated into the
conventional adaptive SMC method in this paper. In the
experimental test, the comparison with the proposed HWBASMC + H controller and the HWB-ASMC controller is
to demonstrate that our proposed method can substantially
reduced the chattering effect. Comparing with related works
[31, 4042], we can nd that the performance, that is
tracking error or robust against the external payload, of our
proposed method is better than that of the existed conrmed
methods.

Conclusions

This study developed the HWB-ASMC + H control

method and successfully applied it to the path tracking
control of a pneumatic servo system. The stability of the
proposed control method is guaranteed by the Lyapunov
theorem and the experimental results verify the proposed
controller can signicantly reduce approximate errors,
un-modelled dynamics and disturbances. The H tracking
technique used only 16 Haar wavelet-series function terms
to approximate a non-linear time-varying function for
achieving good tracking performance. Besides, the proposed
HWB-ASMC + H control method can reduce the serious
chattering problem by the H tracking controller when
compared to the HWB-ASMC method.
We also investigate the performances of the proposed
HWB-ASMC + H control method and the HWB-ASMC
method, aiming at removing the requirement of a model
and simplifying the implementation of the HWB-ASMC
method. For further conrming the proposed control
IET Control Theory Appl., 2012, Vol. 6, Iss. 11, pp. 16991714
doi: 10.1049/iet-cta.2011.0434

strategy, different trajectories, including the sinusoid wave

path and the fth-order polynomial path, are implemented
experimentally. Finally, HWB-ASMC + H control method
is validated experimentally to apply in the position tracking
control of the pneumatic servo system under different
trajectories.

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IET Control Theory Appl., 2012, Vol. 6, Iss. 11, pp. 16991714
doi: 10.1049/iet-cta.2011.0434