Auto-Tuning Methodology for Robust Control of an Electro-Pneumatic Actuator Based on Adaptive Supertwisting Algorithm

This article proposes a new auto-tuning methodology for the adaptive version of the super twisting controller. The main objective is to design a robust controller regarding unknown bounds of perturbations without tuning effort. In this method, the proposed protocols and the parameters are adapted and tuned based on the available information of the system. Unlike previous adaptive laws in the literature, the new strategy is introduced with the definition of no parameter such that the tuning effort of the controller is highly reduced. By using Lyapunov's stability theory, the proof of finite-time convergence is established thanks to an auto-tuning methodology such that there is no overestimation of the gains with respect to the real and unknown value of perturbations. The designed strategy is applied to position-pressure control of an electro-pneumatic actuator. The results of the experimental study are presented to show the efficacy of the proposed adaptive sliding mode control.