Indirect sliding mode control based on gray-box identification method for pneumatic artificial muscle

Mechatronics ◽  
2015 ◽  
Vol 32 ◽  
pp. 1-11 ◽  
Author(s):  
Dang Xuan Ba ◽  
Kyoung Kwan Ahn
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Identification Method ◽  
Mode Control

scholarly journals Design of Hybrid Phase Sliding Mode Control Scheme for Lower Extremity Exoskeleton

2019 ◽  
Vol 9 (18) ◽  
pp. 3754
Author(s):  
Lingling Chen ◽  
Chao Wang ◽  
Jie Wang ◽  
Xiaowei Song
Keyword(s):  
Lower Extremity ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Phase Changes ◽  
Working Environment ◽  
Phase Detector ◽  
Pneumatic Artificial Muscle ◽  
Mode Control ◽  
Control Scheme

Aiming at a pneumatic artificial muscle (PAM) lower extremity exoskeleton, a control mechanism based on hybrid phase sliding mode control (SMC) is proposed. First of all, the human gait cycle is mainly divided into the swing phase and stance phase, and the lower extremity exoskeleton phase models are established by the Euler–Lagrange method, respectively. Secondly, the lower limb exoskeleton is inevitably affected in the diverse working environment, and the exoskeleton model has nonlinear and strong coupling characteristics, which both increase the control difficulty. In this situations, a robust sliding mode control method is designed based on an Extended State Observer (ESO). Thirdly, the pneumatic muscle takes time to contract and relax, and then the joint input torque cannot jump when the gait phase changes, hence, the smoothing switching of the assistive control scheme is introduced to solve it. The smoothing switching time is detected by a phase detector, and the phase detector is designed by the plantar pressure information. Finally the comparative simulation shows that this control strategy has the advantages of fast time, high control precision and no jump during control torque switching. Pneumatic artificial muscle contraction rate curve shows that the pneumatic muscles’ motion range meets the control requirement of the exoskeleton.

scholarly journals New approach of sliding mode control for nonlinear uncertain pneumatic artificial muscle manipulator enhanced with adaptive fuzzy estimator

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141877320 ◽  
Author(s):  
Ho Pham Huy Anh ◽  
Cao Van Kien ◽  
Nguyen Ngoc Son ◽  
Nguyen Thanh Nam
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Fuzzy Sliding Mode Control ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

A new enhanced adaptive fuzzy sliding mode control approach is proposed in this article with its good availability for application in control of a highly uncertain nonlinear two-link pneumatic artificial muscle manipulator. Stability demonstration of the robust convergence of the closed-loop pneumatic artificial muscle manipulator system based on a novel enhanced adaptive fuzzy sliding mode control is experimentally proved using Lyapunov stability theorem. Obtained result confirms that the new enhanced adaptive fuzzy sliding mode control method, applied to the two-link uncertain nonlinear pneumatic artificial muscle manipulator system, is fully investigated with better robustness and precision than the standard sliding mode control and fuzzy sliding mode control techniques.

Helical SMA Actuator based Artificial Muscle and Arm with Sliding Mode Control

2021 ◽  
Author(s):  
Sourav Karmakar ◽  
Vineeth Gaddam ◽  
Jaeseok Kim ◽  
Anand Kumar Mishra ◽  
Abhishek Sarkar
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Mode Control ◽  
Sma Actuator

Combined Sliding Mode Control with a Feedback Linearization for Speed Control of Induction Motor

2011 ◽  
Vol 7 (1) ◽  
pp. 19-24
Author(s):  
Aamir Hashim Obeid Ahmed ◽  
Martino O. Ajangnay ◽  
Shamboul A. Mohamed ◽  
Matthew W. Dunnigan
Keyword(s):  
Sliding Mode Control ◽  
Induction Motor ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Speed Control ◽  
Mode Control
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