High Order Homogeneous Sliding Mode Control for a Robot Arm with Pneumatic Artificial Muscles

Melkou, Lamia; Hamerlain, Mustapha

doi:10.1109/iecon.2019.8927339

Cited by 4 publications

(3 citation statements)

References 26 publications

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“…Following the reaching law ( 12), if k s < 0 it can be derived that: (17) Likewise, if k s > 0, equation ( 12) yields: (18) From ( 17) and ( 18), we obtain:…”

Section: Stability Analysismentioning

confidence: 99%

“…It has been acknowledged that sliding mode control (SMC) is an effective robust control strategy for PAMs based systems in the presence of uncertainties and disturbances [11][12][13][14][15][16][17][18]. Nevertheless, with the rapid development of digital controllers, studying the discrete-time sliding mode control (DSMC) design has attracted considerable attention.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Discrete-Time Sliding Mode Control based on Exponential Reaching Law of a Pneumatic Artificial Muscle Actuator

Dao¹,

Le Tri²

2022

JMechE

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In this paper, a discrete-time sliding mode control (DSMC) approach based on exponential reaching law (ERL) is developed for a pneumatic artificial muscle (PAM) system to achieve high tracking performance and chattering alleviation. The proposed controller is designed based on an exponential term that dynamically adapts to the variation of the switching function, thus guarantees finite steps convergence and chattering phenomenon reduction simultaneously. Moreover, the effectiveness of the designed controller and its stability on a dual actuator PAM-driven system is demonstrated under various conditions. In addition, a leg-gait pattern is set as trajectory tracking for further validation. Finally, experiment results show that the proposed approach is effective and promising for rehabilitation applications.

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“…Following the reaching law ( 12), if k s < 0 it can be derived that: (17) Likewise, if k s > 0, equation ( 12) yields: (18) From ( 17) and ( 18), we obtain:…”

Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Discrete-Time Sliding Mode Control based on Exponential Reaching Law of a Pneumatic Artificial Muscle Actuator

Dao¹,

Le Tri²

2022

JMechE

View full text Add to dashboard Cite

show abstract

“…The algorithm will rely on the selection of Lyapunov functions and sliding surfaces to design the control signal that will stabilize the system according to Lyapunov [12,13]. By incorporating backstepping and sliding mode control, the proposed algorithm provides more effectiveness than the conventional sliding control algorithm [14][15][16]. To summarize, this paper makes the following contributions:…”

Section: Introductionmentioning

confidence: 99%

Discrete-Time Backstepping Sliding Mode Control for a 2-DOF PAM-Based Exoskeleton

2023

JST: SSAD

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This study aims to propose a discrete-time backstepping sliding mode control technique (BSMC) for regulating a pneumatic artificial muscle (PAM)-based exoskeleton used in rehabilitating human lower extremities. The PAM system is challenging to control due to its high nonlinearity, parameter uncertainty, and significant delay resulting from using compressed air. A backstepping control method is a recursive approach that systematically designs control laws for nonlinear and complicated systems. This technique ensures stable and robust system control, even in uncertain circumstances. Furthermore, the backstepping controller can handle high-order systems and guarantee high-precision tracking of a desired trajectory. The incorporation of sliding mode control is aimed at enhancing the performance of the robot PAM system by reducing chattering and reaching time. The algorithm employs Lyapunov functions and sliding surfaces to design the control signal for operating the system. The study concludes with experimental scenarios demonstrating the effectiveness of the proposed approach.

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Control of single-stroke movement of a drum-playing robot by reinforcement learning using a realistic artificial muscle-driven robot

Okui

Nakamura

Kimura

et al. 2022

IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society

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High Order Homogeneous Sliding Mode Control for a Robot Arm with Pneumatic Artificial Muscles

Cited by 4 publications

References 26 publications

Discrete-Time Sliding Mode Control based on Exponential Reaching Law of a Pneumatic Artificial Muscle Actuator

Discrete-Time Sliding Mode Control based on Exponential Reaching Law of a Pneumatic Artificial Muscle Actuator

Discrete-Time Backstepping Sliding Mode Control for a 2-DOF PAM-Based Exoskeleton

Control of single-stroke movement of a drum-playing robot by reinforcement learning using a realistic artificial muscle-driven robot

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