Block-oriented approximate feedback linearization for control of pneumatic actuator system

A block-oriented approximate feedback linearization methodology is presented in this paper. Accurate force control and high-precision positioning, 5 mum, of a rodless pneumatic cylinder system can be easily achieved with the presented techniques, despite the existence of high friction and substantial nonlinearities. Since the linearization is manipulated on block level, it only requires that some specific blocks are invertible or approximately invertible. This feature is favorable for a class of high order and extremely nonlinear systems. Experimental results, including force control, short distance (0.5 mm), low velocity (1 cm/s) and normal positioning are presented. (C) 2003 Elsevier Science Ltd. All rights reserved.