Sliding mode control with fuzzy compensator of pneumatic muscle actuator

2012 ◽  
Vol 44 (4) ◽  
pp. 257 ◽  
Author(s):  
Jun Wu ◽  
Yongji Wang ◽  
Jian Huang ◽  
Kexin Xing
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Pneumatic Muscle ◽  
Mode Control ◽  
Fuzzy Compensator ◽  
Pneumatic Muscle Actuator

Sliding mode control of a pneumatic muscle actuator system with a PWM strategy

2014 ◽  
Vol 15 (1) ◽  
pp. 19-31 ◽  
Author(s):  
Ville T. Jouppila ◽  
S. Andrew Gadsden ◽  
Gary M. Bone ◽  
Asko U. Ellman ◽  
Saeid R. Habibi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Pneumatic Muscle ◽  
Mode Control ◽  
Actuator System ◽  
Pneumatic Muscle Actuator

scholarly journals An Extended Proxy-Based Sliding Mode Control of Pneumatic Muscle Actuators

2019 ◽  
Vol 9 (8) ◽  
pp. 1571 ◽  
Author(s):  
Wei Zhao ◽  
Aiguo Song ◽  
Yu Cao
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Physical Object ◽  
Functional Method ◽  
Pneumatic Muscle ◽  
Mode Control ◽  
Virtual Coupling ◽  
The Stability ◽  
Compliant Actuator

To solve the problem of controlling an intrinsically compliant actuator, pneumatic muscle actuator (PMA), this paper presents an extended proxy-based sliding mode control (EPSMC) strategy. It is well known that the chattering phenomenon of conventional sliding mode control (SMC) can be effectively solved by introducing a proxy between the physical object and desired position, which results in the so-called proxy-based sliding mode control (PSMC). To facilitate the theoretical analysis of PSMC and obtain a more general form of controller, a new virtual coupling and a SMC are used in our proposed EPSMC. For a class of second-order nonlinear system, the sufficient conditions ensuring the stability and passivity are obtained by using the Lyapunov functional method. Experiments on a real-time PMA control platform validate the effectiveness of the proposed method, and comparison studies also show the superiority of EPSMC over the conventional SMC, PSMC, and PID controllers.

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