Share / Export Citation / Email / Print / Text size:

International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic


eISSN: 1178-5608



VOLUME 4 , ISSUE 4 (December 2011) > List of articles


M. F. Rahmat * / N. H Sunar * / Sy Najib Sy Salim / Mastura Shafinaz Zainal Abidin / A. A Mohd Fauzi / Z. H. Ismail

Keywords : Pneumatic actuator system, modeling, controller, nonlinearities, uncertainties, position tracking.

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 4, Issue 4, Pages 630-661, DOI:

License : (CC BY-NC-ND 4.0)



Pneumatic actuators are highly nonlinear characteristics and uncertainties make it difficult to achieve high performances. The objective of this paper is to present a brief overview of pneumatic actuators based on modeling and control strategies that has been proposed by various researchers. Before the main discussion, some background information will be presented in a relation to pneumatic actuators. This review concludes with a short summary and discussion of modeling and control approaches of pneumatic actuators. The implication of this paper is for further improving the performance of existing pneumatic actuators.

Content not available PDF Share



[1] J. L. Shearer, "Study of Pneumatic Process in the Continuous Control of Motion With Compressed Air," Transactions of the ASME, pp. 233-249, 1956.
[2] J. Wang, et al., "Accurate position control of servo pneumatic actuator systems: an application to food packaging," Control Engineering Practice, vol. 7, pp. 699-706, 1999.
[3] A. Messina, et al., "Experimenting and modelling the dynamics of pneumatic actuators controlled by the pulse width modulation (PWM) technique," Mechatronics, vol. 15, pp. 859-881, 2005.
[4] Y. Shaojuan, et al., "A New Iterative Learning Controller for Electro-Pneumatic Servo System," in Intelligent Systems Design and Applications, 2008. ISDA '08. Eighth International Conference on, 2008, pp. 101-105.
[5] E. J. Barth and M. Goldfarb, "A Control Design Method for Switching Systems With Application to Pneumatic Servo Systems," ASME Conference Proceedings, vol. 2002, pp. 463-469, 2002.
[6] H.-S. Choi, et al., "Development of hybrid robot for construction works with pneumatic actuator," Automation in Construction, vol. 14, pp. 452-459, 2005.
[7] A. A. M. Faudzi, et al., "Distributed Physical Human Machine Interaction Using Intelligent Pneumatic Cylinders," in Micro-NanoMechatronics and Human Science, 2008. MHS 2008. International Symposium on, 2008, pp. 249-254.
[8] S. Sang-Eun, et al., "Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches," in Robotics and Automation (ICRA), 2010 IEEE International Conference on, 2010, pp. 2580-2585.
[9] T. Kubo, et al., "Development of Active 80-faced Polyhedron for haptic physical human-machine interface," in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009, pp. 1259-1264.
[10] S. Rajendran and P. S. Nanda, "Electro-Pneumatic Servo System," presented at the 14th National Conference on Machines and Mechanisms (NaCoMM09), NIT, Durgapur, India, 2009.
[11] D. Schindele and H. Aschemann, "Adaptive friction compensation based on the LuGre model for a pneumatic rodless cylinder," in Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE, 2009, pp. 1432-1437.
[12] H. I. Ali, et al., "Mathematical and Intelligent Modeling of Electropneumatic Servo Actuator Systems," Australian Journal of Basic and Applied Sciences, vol. 3, pp. 3662-3670, 2009.
[13] E. Richer and Y. Hurmuzlu, "A High Performance Pneumatic Force Actuator System: Part I---Nonlinear Mathematical Model," Journal of dynamic systems, measurement, and control, vol. 122, pp. 416-425, 2000.
[14] V. Blagojevi and M. Stojiljkovi "Mathematical and simulink model of the pneumatic system with bridging of the dual action cylinder chambers," Facta universitatis-series: Mechanical Engineering, vol. 5, pp. 23-31, 2007.
[16] E. A.Perondi, et al., "Feedback linearization control applied to a pneumatic actuator system."
[17] Y. T. Liu and C. C. Jiang, "Pneumatic actuating device with nanopositioning ability utilizing PZT impact force coupled with differential pressure," Precision engineering, vol. 31, pp. 293-303, 2007.
[18] I. L. Krivts, "Optimization of performance characteristics of electropneumatic (two-stage) servo valve," Journal of dynamic systems, measurement, and control, vol. 126, p. 416, 2004.
[19] Ž. Šitum, et al., "Nonlinear mathematical model of a servo pneumatic system."
[20] V. Geleževi ius and A. Grigaitis, "Investigation of dynamic behaviour of nonlinear electropneumatic acting system," Electronics and Electrical Engineering.–Kaunas: Technologija, pp. 35–40, 2006.
[21] G. Kothapalli and M. Y. Hassan, "Design of a Neural Network Based Intelligent PI Controller for a Pneumatic System," IAENG International Journal of Computer Science, vol. 35, pp. 217-222, 2008.
[22] A. Voda and L. Ravanbod-Shirazi, "High Performance Position Tracking With Friction Compensation For An Electro-Pneumatical Actuator," Journal of Control Engineering and Applied Informatics, vol. 6, pp. 15-33, 2004.
[23] F. Najafi, et al., "Dynamic modelling of servo pneumatic actuators with cushioning," The International Journal of Advanced Manufacturing Technology, vol. 42, pp. 757-765, 2009.
[24] J. Wang, et al., "Tracking control of nonlinear pneumatic actuator systems using static state feedback linearization of the input-output map," in Proceedings of the Estonian Academy of Sciences, Physics and Mathematic, 2007, p. 47.
[25] M.-C. Shih and S.-I. Tseng, "Identification and position control of a servo pneumatic cylinder," Control Engineering Practice, vol. 3, pp. 1285-1290, 1995.
[26] R. B. Van Varseveld and G. M. Bone, "Accurate position control of a pneumatic actuator using on/off solenoid valves," Mechatronics, IEEE/ASME Transactions on, vol. 2, pp. 195-204, 1997.
[27] S. Fok and E. Ong, "Position control and repeatability of a pneumatic rodless cylinder system for continuous positioning," Robotics and Computer-Integrated Manufacturing, vol. 15, pp. 365-371, 1999.
[28] R. Richardson, et al., "Self-tuning control of a low-friction pneumatic actuator under the influence of gravity," IEEE Transactions on Control Systems Technology, vol. 9, pp. 330-334, 2001.
[29] Y. Luo, et al., "Research on the Fuzzy Sliding-Mode Control for the Electro-Pneumatic Proportional System," in Fuzzy Systems and Knowledge Discovery, 2009. FSKD '09. Sixth International Conference on, 2009, pp. 156-159.
[30] H. Schulte and H. Hahn, "Fuzzy state feedback gain scheduling control of servo-pneumatic actuators," Control Engineering Practice, vol. 12, pp. 639-650, 2004.
[31] G. Carducci, et al., "Identification of viscous friction coefficients for a pneumatic system model using optimization methods," Mathematics and Computers in Simulation, vol. 71, pp. 385-394, 2006.
[32] M. Taghizadeh, et al., "Multimodel PD-control of a pneumatic actuator under variable loads," The International Journal of Advanced Manufacturing Technology, vol. 48, pp. 655-662, 2010.
[33] J. Wang, et al., "A practical control strategy for servo-pneumatic actuator systems," Control Engineering Practice, vol. 7, pp. 1483-1488, 1999.
[34] H. K. Lee, et al., "A study on tracking position control of pneumatic actuators," Mechatronics, vol. 12, pp. 813-831, 2002.
[35] J. Song and Y. Ishida, "A robust sliding mode control for pneumatic servo systems," International journal of engineering science, vol. 35, pp. 711-723, 1997.
[36] E. Richer and Y. Hurmuzlu, "A High Performance Pneumatic Force Actuator System: Part II---Nonlinear Controller Design," Journal of dynamic systems, measurement, and control, vol. 122, pp. 426-434, 2000.
[37] Y. C. Tsai and A. C. Huang, "Multiple-surface sliding controller design for pneumatic servo systems," Mechatronics, vol. 18, pp. 506-512, 2008.
[38] M. Smaoui, et al., "A study on tracking position control of an electropneumatic system using backstepping design," Control Engineering Practice, vol. 14, pp. 923-933, 2006.
[39] M. H. Chiang, et al., "Large stroke and high precision pneumatic-piezoelectric hybrid positioning control using adaptive discrete variable structure control," Mechatronics, vol. 15, pp. 523-545, 2005.
[40] N. Shu and G. M. Bone, "Experimental comparison of two pneumatic servo position control algorithms," in Mechatronics and Automation, 2005 IEEE International Conference, 2005, pp. 37-42 Vol. 1.
[41] G. G. Zhu, et al., "An iterative algorithm for model-based predictive control of an Electro-Pneumatic Valve Actuator," in American Control Conference, 2009. ACC '09., 2009, pp. 2684-2689.
[42] A. Saleem, et al., "Mixed-reality environment for frictional parameters identification in servo-pneumatic system," Simulation Modelling Practice and Theory, vol. 17, pp. 1575-1586, 2009.
[43] A. Ilchmanna, et al., "Pneumatic cylinders: modelling and feedback force-control," International Journal of Control, vol. 79, pp. 650-661, 2006.
[44] J. E. Takosoglu, et al., "Rapid prototyping of fuzzy controller pneumatic servo-system," The International Journal of Advanced Manufacturing Technology, vol. 40, pp. 349-361, 2009.
[45] M. Papoutsidakis, et al., "Modeling and simulated control of non-linear switching actuation systems," presented at the Proceedings of the 8th WSEAS international conference on System science and simulation in engineering, Genova, Italy, 2009.
[46] A. Saleem, et al., "On-line identification and control of pneumatic servo drives via a mixed-reality environment," The International Journal of Advanced Manufacturing Technology, vol. 40, pp. 518-530, 2009.
[47] X. Liang, et al., "A novel PID controller tuning method based on optimization technique," Journal of Central South University of Technology, vol. 17, pp. 1036-1042, 2010.
[48] G. M. Bone and S. Ning, "Experimental comparison of position tracking control algorithms for pneumatic cylinder actuators," Mechatronics, IEEE/ASME Transactions on, vol. 12, pp. 557-561, 2007.
[49] P. Korondi and J. Gyeviki, "Robust Position Control for a Pneumatic Cylinder," in Power Electronics and Motion Control Conference, 2006. EPE-PEMC 2006. 12th International, 2006, pp. 513-518.
[50] M. Smaoui, et al., "High order sliding mode for an electropneumatic system: A robust differentiator–controller design," International Journal of Robust and Nonlinear Control, vol. 18, pp. 481-501, 2008.
[51] T. Y. Choi and J. J. Lee, "Control of Manipulator Using Pneumatic Muscles for Enhanced Safety," Industrial Electronics, IEEE Transactions on, vol. 57, pp. 2815-2825, 2010.
[52] X.-S. Wang, et al., "Modeling and self-tuning pressure regulator design for pneumatic-pressure-load systems," Control Engineering Practice, vol. 15, pp. 1161-1168, 2007.
[53] S. J. Yu, et al., "Practical Design of an Iterative Learning-Sliding Mode Controller for Electro-Pneumatic," International Journal of Information Technology, vol. 11, 2004.
[54] M. Parnichkun and C. Ngaecharoenkul, "Kinematics control of a pneumatic system by hybrid fuzzy PID," Mechatronics, vol. 11, pp. 1001-1023, 2001.
[55] L. Bo, et al., "Modeling and control of the pneumatic constant pressure system for zero gravity simulation," in Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on, 2008, pp. 688-693.
[56] T. Kimura, et al., "Feedback linearization for pneumatic actuator systems with static friction," Control Engineering Practice, vol. 5, pp. 1385-1394, 1997.
[57] E. A.Perondi, et al., "Feedback linearization control applied to a pneumatic actuator system," presented at the XVIII Congresso Brasileiro de Automática, Bonito-MS, 2010.
[58] F. Xiang and J. Wikander, "QFT control design for an approximately linearized pneumatic positioning system," International Journal of Robust and Nonlinear Control, vol. 13, pp. 675-688, 2003.
[59] E. J. Barth, et al., "Control design for relative stability in a PWM-controlled pneumatic system," Journal of dynamic systems, measurement, and control, vol. 125, p. 504, 2003.
[60] M. B. Thomas, et al., "A novel, low-cost pneumatic positioning system," Journal of manufacturing systems, vol. 24, pp. 377-387, 2005.
[61] Z. Situm, et al., "High speed solenoid valves in pneumatic servo applications," in Control & Automation, 2007. MED '07. Mediterranean Conference on, 2007, pp. 1-6.
[62] S. Kaitwanidvilai and M. Parnichkun, "Genetic-Algorithm-Based Fixed-Structure Robust H Loop-Shaping Control of a Pneumatic Servosystem," Journal of robotics and mechatronics, vol. 16, pp. 362-373, 2004.
[63] P. Chaewieang, et al., "Pressure control of pneumatic-pressure-load system using generalized predictive controller," in Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on, 2008, pp. 788-791.
[64] Z. Rao and G. M. Bone, "Nonlinear modeling and control of servo pneumatic actuators," Control Systems Technology, IEEE Transactions on, vol. 16, pp. 562-569, 2008.
[65] S. Lambeck and C. Busch, "Exact Linearization Control for a pneumatic proportional pressure control valve," in Control and Automation (ICCA), 2010 8th IEEE International Conference on, 2010, pp. 22-27.