An Extended Proxy-Based Sliding Mode Control of Pneumatic Muscle Actuators
Source abstract
Abstract
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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Research context
OpenAlex topics: Prosthetics and Rehabilitation Robotics · Muscle activation and electromyography studies · Soft Robotics and Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China
Funding
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References (32)
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