The issue of energy saving nowadays is very crucial. Pneumatic systems, constituting an important segment of almost every industry, represent large energy consumers. Also, a signiﬁcant problem with servo pneumatic actuators is achieving accuracy in positioning. The higher the positioning accuracy, the higher the compressed air consumption is. This paper presents a new solution of the positioning control algorithm which uniﬁes digital control of variable structure and sliding working mode and inter chamber cross-ﬂow. The experiments demonstrated that this control algorithm provides a satisfactory positioning accuracy and robustness of the system, simultaneously reducing compressed air consumption by as much as 29.5%.