A Novel Pneumatic Actuator with Linear and Rotary Motion Functions

CSME 2026/06
Volume 47 No.3 : 273-284
DOI:10.29979/JCSME.202606_47(3).0008

A Novel Pneumatic Actuator with Linear and Rotary Motion Functions

Yi-Fan Jia ^a, Zhi-Hao Zhang ^a, Heng-Yang Zhou ^a, Chen-Wei Pu ^a, Yuan-Tong Xu ^a, Luis Miguel Ruiz Páez ^b and Peng-Fei Qian ^a
^aDepartment of Mechanical Engineering, Jiangsu University, Zhenjiang, China.
^bDepartment of Mechanical Engineering, Jiangsu University, Zhenjiang, China.; Department of Mechatronic Engineering, Polytechnic University of the Metropolitan Zone of Guadalajara, Tlajomulco de Zúñiga, Mexico.

Abstract: This paper introduces a novel, compact pneumatic actuator capable of executing both rotary and linear motions to enhance work efficiency. Considering the strong nonlinearities inherent in the valve-controlled pneumatic cylinder system and the valve-controlled pneumatic motor system, we employ an extended state observer-based sliding mode control method for the high-precision control of the composite motion pneumatic actuator. The sliding mode control is adopted for its rapid response and good robustness, and the extended state observer is employed to estimate state variables and overall uncertainty of the system in real time. The results indicate that the maximum steady-state error is approximately 0.44 mm when ESO-SMC is used to control the composite motion pneumatic actuator to track a sinusoidal displacement signal with a 0.25 Hz frequency and a 20 mm amplitude. The steady-state error is approximately 2 rpm during the constant rotary speed control of the pneumatic actuator at 800 rpm.

Keywords: Extended state observer; Linear-rotary composite motion; Pneumatic actuator; Sliding mode control;

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