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ProgessofResearchonFaultDiagnosticsandToleranceControlforPneumaticActuator1,21(1,200072;2,450002),AbstractThecharacteristicsofpneumaticactuatorandthefaultsmayoccurareanalyzed.Thereasonsofdifficultytoimplementfaultdiagnosticsandtolerancecontrolalsodiscussed.Thetechnologiesoffaultdiagnosticsofpneumaticactuatorsandsituationoftolerancecontrolaredescribedcomprehen2sively.Themajordevelopingtrendonfauitdiagnosticsandtolerancecontrolofpneumaticactuaticactuatorsisgiven.KeywordsPneumaticactuatorFaultdiagnosticsTolerancecontrolCurrentstatusProgress0,,,,,,,,,:;//;;;;,[1],()70%80%,,,(braidedpneumaticmuscleactuator,PMA),,[2],(),[3],,,,,,,,,,,,,1:1,100Pa,700L/min2,[4],425820048PROCESSAUTOMATIONINSTRUMENTATION,Vol.25,No.8,Aug.,200412,,3PMAPMA,,,,PMA,PMA//,PMAPMA,,(//),(),[3]3PMA,PMA,(),,[5],:,,2,2.1(faultdetectionanddiagnosis,FDD),,FDD,FDD,FDD:,;[11],,,,,,,,,,,,5,,,,2.2Coulomb[13],,2.3[14],:,,2.4McGhere,,,[15][7],ValveLinkTM,,,2.5,,,,,,-,:;,(adaptiveneural2basedfuzzyinferencesystem,ANFIS),,,[4],1,ANFIS,,,,[8]1,ANFIS(learningvectorquantizationneuralnet2work,LVQ),ANFIS,,,,3,,,[9],,,,:,,;,625820048PROCESSAUTOMATIONINSTRUMENTATION,Vol.25,No.8,Aug.,2004,,:,,,:,;FDD,,,,9,1626FDD,,,PID-,,,,[16],6:PIDPID++-Er:Er=1NNk=0[xd(kT)-x(kT)]2:xd(kT);x(kT)(Er),:,,;PIDPID;,;PID;,[17],,,[18],,,,[19]H,,,,HamiltonJacobi,,,H[20],H,Razumikhin,(linearmatrixinequalities,LMIs)H[21],Riccati,,,,,[22],H,Delta,HRiccati7,,Riccati[23]H,,[24](),,TSK,,,,[25]H,,H,,,,[26],(rodless),,,,,,,4,,Coulomb,,,,,,,1B.RobertVanVarseveldandGaryMBone.Accuretepositioncontrolofapneumaticactuatorusingon/offsolenoidvalves.IEEE/ASMETrans.Mechatronics,1997,2(3):1952042JoachimSchrÊderandDuyunErol.Dynamicpneumaticactuatormodelforamodel2basedtorquecontroller.Proc.2003IEEEInternationalsympo2siumoncomputationalintelligenceinboboticsandautomation,Kobe,2003:3423473JohnH.Lilly.Adaptivetrackingforpneumaticmuscleactuatorinbicepandtricepconfigurations.IEEETrans.Neuralsystemsandrehabilitationengineering,2003,11(3):3333364L.ShiandN.Sepehri.,AdaptiveFuzzy2Neural2BasedMultipleModelsforFaultDiagnosisofaPneumaticActuator.Boston:AmericaControlConference,20045D.W.Repperger,K.R.Johnson,andC.A.Phillips.Nonlinearfeed2backcontrollerdesignofapneumaticmuscleactuatorsystem.AmericanControlofConf.,19996J.H.Cocatre2Zilgien,F.DelcomynandJ.M.HartPerformanceofamuscle2likeleakypneumaticactuatorpoweredbymodulatedairpulses.J.Robot.Syst.,1996,13(6):3793907M.KarpenkoandN.SepehriANeuralNetworkBasedFaultDetectionandIdentificationSchemeforPneumaticProcessControlValves.Systems,ManandCybernetics,2001IEEEInternationalConferrnce,2001(1):93988L.ShiandN.Sepehi.FaultDiagnosisofPneumaticActuatorUsingAdaptiveNetwork2BasedFuzzyInferenceSystemModelsandaLearningVectorQuantizationNeuralNetwork.IEEEIJCNN,20049,..:,200010PattonR.J.,etal.Faultdiagnosisinnonlineardynamicsystemsvianeuralnetworks.IEEConferencePublication,199411WangH.Detectinganddiagnosingsaturationfaults.IEEConferencePublication,199612ZhangH.Y.,etal.Sensorfaultdiagnosisforsystemswithunknownnonlinearityusingneuralnetworkbasednonlinearobservers,IEEConfer2825820048PROCESSAUTOMATIONINSTRUMENTATION,Vol.25,No.8,Aug.,2004encePublication,199813W.B.Bunbar,R.A.deCallafon,andJ.B.Kosmatka.Coulombandviscousfrictionfaultdetectionwithapplicationtoapneumaticactua2tor.2001IEEE/ASMEInternationalConferenceonAdvancedIntelligentMechatronicsProceedings,200114..,1999,16(4):58759015McGheeJ.,HendersonI.A.,andBairdA.NeuralNetworkAppliedforIdentificationandFaultDiagnosisofProcessValvesandActuators.Measurement:JournaloftheInternationalMeasurementConference,1997,20(4):26727516S.Chillari,S.GuccioneandG.MuscatoAnExperimentalComparisonBetweenSeveralPneumaticPositionControlMethods.Proc.ofthe40thIEEEConferenceonDecisionandControl,2001:1168117317T.Acarman,C.Hatipoglu,ARobustNonlinearControllerDesignforaPneumaticActuator.Proc.oftheAmericaControlConference,2001:44904495.18S.Shibata,M.Jindai,andA.Shimiza.Neuro2FuzzyControlforPneu2maticServoSytem.Proc.oftheAmericaControlConference,200019,,..(),2002,23(5):40941220,.RazumikhinH.,2002,28(2):26226621,..,1998,24(6):76877522,,.DeltaH.,2201,16(4):49149323,.H.,2001,18():474924,..,2003,29(6):96597025,,..,2000,21(4):35135326SuWuchungandKuoChunyen.Variablestructurecontrolofarodlessservoactuatorwithdiscontinuousslidingsurfaces.Proc.oftheAmericaControlConference,2000:2004-02-05,,1964,1985,1988,2001;(3),1,,,..1.:,2002:2003-06-30,,1971,1994,1999,2002,;:(11),,5:,,,7%54,,,,,100,1000m,1,,,..,2003,24(8):3335.2..:,1984.3,,..:,1996.(:97201302)(:Y2003F01):2004-01-07,,1967,2004;:,,9,