Sliding mode impedance and stiffness control of a pneumatic cylinder

Jonathon E. Slightam, Eric J. Barth, Mark L. Nagurka

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations


Pneumatic double acting cylinders are able to provide inherent stiffness and force control for compliant motion control applications. Impedance control methods allow for a broad spectrum of mechanical properties of actuators to be achieved. The range of this spectrum can be increased by simultaneously controlling the actuator’s inherent stiffness and impedance, a concept explored in this paper. Presented here is a sliding mode impedance and stiffness controller for a servo-pneumatic double acting cylinder. Two proportional servo-valves are employed for simultaneous control of the virtual impedance and inherent stiffness of the pneumatic cylinder. Experimental results of tracking trajectories and contact are reported and discussed with respect to different approaches in the literature.

Original languageEnglish
Title of host publicationAdvanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859148
StatePublished - 1 Jan 2019
Externally publishedYes
EventASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States
Duration: 8 Oct 201911 Oct 2019

Publication series

NameASME 2019 Dynamic Systems and Control Conference, DSCC 2019


ConferenceASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Country/TerritoryUnited States
CityPark City

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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