Displacement control of flexible pneumatic cylinder using disturbance observer and smith compensator

Wataru Kobayashi, Shujiro Dohta, Tetsuya Akagi, Yusuke Miyamoto, Naoki Kato, Kazuhisa Ito

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This study is concerned with flexible pneumatic cylinder. The cylinder can be used in the various fields such as life support, medical, welfare systems which require light-weight, high flexibility, and high cleanliness. However, the control of the cylinder is insufficient and then it is needed to improve its control performance for widening of applications of the cylinder. Therefore, we propose combination of disturbance observer, which has a function of model matching, and Smith compensator, which compensates time delay of the system, with conventional PI control. To evaluate the control performance of the proposed control, some experiments are carried out. As a result, it is confirmed that the control performance of the proposed control can be drastically improved. In particular, it can be seen that the proposed control is effective for time delay of the system. The flexible cylinder with the proposed control scheme will be used in rehabilitation devices in practice.

Original languageEnglish
Pages (from-to)594-599
Number of pages6
JournalInternational Journal of Mechanical Engineering and Robotics Research
Issue number4
Publication statusPublished - 2019


  • Displacement control
  • Disturbance observer
  • Flexible pneumatic cylinder
  • Smith compensator
  • Time delay

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence


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