Abstract
This paper presents a novel approach to both adaptive deadband compensation and complete adaptive pneumatic control for a pneumatic servo control system driven by spool-type pneumatic proportional directional control valves. The controller is capable of either combined position and compliance control or combined force and compliance control. The novel adaptive approach includes control valve deadband compensation and adaptation for load variations and system mechanical properties. The control valve deadband compensation uses adjustable deadband lengths that are adapted to improve force tracking performance. The learned deadband model is then used in the complete adaptive controller, which includes adaptation for system mass, damping, and external load. The complete controller demonstrated accurate and stable force and position control for the tracking of sine, square, and sawtooth waveforms from 1 to 5 Hz.