This paper presents a new robust control strategy developed for the pneumatic servo system (PSS) by hybridizing two types of fuzzy logic control (FLC) rules as a self-tuner to the integral sliding mode control (ISMC), namely self-tuning hybrid fuzzy sliding surface control (SH-FSSC) controller. A sliding surface consisting of two switched fuzzification rules, relying on the tuning threshold value of the position error tracking, was designed to consider both the position and the force feedback of the pneumatic proportional valve with a double-acting cylinder (PPVDC) system. The approach is to acquire multiple features not only on tracking error but also faster transient response with finite-time convergence, chatter elimination, and robustness against uncertainty. The proposed control strategy was verified and validated by conducting experiments with the actual PPVDC unit linked to the tip of the robot’s tri-finger pneumatic grippers (TPG) platform. The experimental works were accomplished using two types of input trajectories: multi-steps and sinusoidal input trajectories. On the other hand, an additional external payload as a disturbance to the test rig has also been added at the end of the pneumatic gripper jaw, intended to evaluate the proposed controller’s robustness performance. The advantage of the proposed method was validated by significantly eliminating oscillation for each transient response, maintaining high tracking performance, and minimizing hysteresis effects. The oscillation was suppressed with minimal overshoot, and the proposed method was achieved without a significant loss of performance.

本文通过将两种类型的模糊逻辑控制（FLC）规则作为自整定器与整体滑模控制（ISMC）进行混合，提出了一种针对气动伺服系统（PSS）开发的新鲁棒控制策略，即自整定混合模糊控制滑动表面控制（SH-FSSC）控制器。根据位置误差跟踪的调整阈值，设计了由两个切换的模糊规则组成的滑动面，以考虑具有双作用气缸（PPVDC）系统的气动比例阀的位置和力反馈。该方法不仅要获得多个跟踪误差特征，而且还要具有有限时间收敛，消除颤振以及针对不确定性的鲁棒性的更快的瞬态响应。通过将实际的PPVDC单元连接到机器人的三指气动抓爪（TPG）平台的尖端进行实验，对提出的控制策略进行了验证和验证。实验工作是通过两种输入轨迹完成的：多步输入和正弦输入轨迹。另一方面，在气动抓爪的末端也增加了额外的外部有效载荷，作为对试验台的干扰，目的是评估所提出的控制器的鲁棒性。通过显着消除每个瞬态响应的振荡，保持较高的跟踪性能以及最小化磁滞效应，从而验证了所提方法的优势。以最小的过冲抑制了振荡，