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Mathematical Problems in Engineering
Volume 2016 (2016), Article ID 4505340, 10 pages
Research Article

Finite-Time Composite Position Control for a Disturbed Pneumatic Servo System

Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, School of Automation, Southeast University, Nanjing 210096, China

Received 5 May 2016; Accepted 19 October 2016

Academic Editor: R. Aguilar-López

Copyright © 2016 Xiaojun Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates the finite-time position tracking control problem of pneumatic servo systems subject to hard nonlinearities and various disturbances. A finite-time disturbance observer is firstly designed, which guarantees that the disturbances can be accurately estimated in a finite time. Then, by combining disturbances compensation and state feedback controller together, a nonsmooth composite controller is developed based on sliding mode control approach and homogeneous theory. It is proved that the tracking errors under the proposed composite control approach can be stabilized to zero in finite time. Moreover, compared with pure state feedback control, the proposed composite control scheme offers a faster convergence rate and a better disturbance rejection property. Finally, numerical simulations illustrate the effectiveness of the proposed control scheme.