Hybrid control of a parallel platform based on pneumatic artificial muscles combining sliding mode controller and adaptive fuzzy CMAC

2013 ◽  
Vol 21 (1) ◽  
pp. 76-86 ◽  
Author(s):  
G.L. Shi ◽  
W. Shen
Keyword(s):  
Hybrid Control ◽  
Sliding Mode ◽  
Artificial Muscles ◽  
Sliding Mode Controller ◽  
Adaptive Fuzzy ◽  
Fuzzy Cmac ◽  
Pneumatic Artificial Muscles ◽  
Parallel Platform

Robust Control Law for Pneumatic Artificial Muscles

2017 ◽  
Author(s):  
Jonathon E. Slightam ◽  
Mark L. Nagurka
Keyword(s):  
Steady State ◽  
Feedback Linearization ◽  
Frequency Tuning ◽  
Sliding Mode ◽  
Cutoff Frequency ◽  
Tuning Parameter ◽  
Artificial Muscles ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Pneumatic Artificial Muscles

This paper presents a modified integral sliding surface, sliding mode control law for pneumatic artificial muscles. The cutoff frequency tuning parameter λ is squared to increase the gradient from absement (integral of position) to position and higher derivatives to reflect the more dominant terms in the actuator dynamics. The sliding mode controller is coupled with proportional and integral action compensation. The control system is sufficiently robust so that use of an observer and input-output feedback linearization are not required. Closed-loop control experiments are compared with traditional sliding mode controller designs presented in the literature for pneumatic artificial muscles. Experiments include the tracking of sinusoidal waves at 0.5 and 1 Hz, tracking of square-like waves with seventh-order trajectory transitions at a rate of 0.2 Hz without and with a steady-state period of 10 seconds, as well as a step input response. These experiments indicate that the control law provides similar bandwidth, tracking, and steady-state performance as approaches requiring nonlinear feedback and model observation for pneumatic artificial muscles. Experiments demonstrate an accuracy of 50 μm at steady-state with no overshoot and maximum tracking errors less than 0.4 mm for smooth square-like trajectories.

scholarly journals An extended state observer-based full-order sliding mode control for robotic joint actuated by antagonistic pneumatic artificial muscles

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142098603
Author(s):  
Daoxiong Gong ◽  
Mengyao Pei ◽  
Rui He ◽  
Jianjun Yu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Artificial Muscles ◽  
Extended State ◽  
Robot System ◽  
Mode Control ◽  
Physical Experiments ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are expected to play an important role in endowing the advanced robot with the compliant manipulation, which is very important for a robot to coexist and cooperate with humans. However, the strong nonlinear characteristics of PAMs hinder its wide application in robots, and therefore, advanced control algorithms are urgently needed for making the best use of the advantages and bypassing the disadvantages of PAMs. In this article, we propose a full-order sliding mode control extended state observer (fSMC-ESO) algorithm that combines the ESO and the fSMC for a robotic joint actuated by a pair of antagonistic PAMs. The fSMC is employed to eliminate the chattering and to guarantee the finite-time convergence, and the ESO is adopted to observe both the total disturbance and the states of the robot system, so that we can inhibit the disturbance and compensate the nonlinearity efficiently. Both simulations and physical experiments are conducted to validate the proposed method. We suggest that the proposed method can be applied to the robotic systems actuated by PAMs and remarkably improve the performance of the robot system.

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