Journal ArticleDOI
Sliding mode tracking for pneumatic muscle actuators in opposing pair configuration
J.H. Lilly,Liang Yang +1 more
TLDR
Sliding mode techniques are applied to pneumatic muscle actuators arranged in an agonist/antagonist, or opposing pair configuration, and a sliding mode controller is designed to give elbow angle tracking within a guaranteed accuracy despite modeling errors.Abstract:
Sliding mode techniques are applied to pneumatic muscle actuators arranged in an agonist/antagonist, or opposing pair configuration. The pneumatic muscle (PM) pair actuates a planar elbow manipulator, with PMs in place of bicep and tricep. The control objective is elbow angle tracking under load. A nonlinear mathematical model is derived for this system and a sliding mode controller is designed to give elbow angle tracking to within a guaranteed accuracy despite modeling errors. Static pressure requirements are also derived for stable arm behavior in the absence of a control signal. Stability results are derived, and the results of simulation studies are presented. The simulation studies also address the effects of PM heating.read more
Citations
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Journal ArticleDOI
A New Approach to Modeling Hysteresis in a Pneumatic Artificial Muscle Using The Maxwell-Slip Model
TL;DR: In this article, a Maxwell-slip model used as a lumped-parametric quasi-static model is proposed to capture the force/length hysteresis of a pneumatic artificial muscle actuator.
Journal ArticleDOI
Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles
TL;DR: A discontinuous projection-based adaptive robust control strategy is adopted to compensate for both the parametric uncertainties and uncertain nonlinearities of a three-pneumatic-muscles-driven parallel manipulator to achieve precise posture trajectory tracking control.
Journal ArticleDOI
Sliding-Mode Control of a High-Speed Linear Axis Driven by Pneumatic Muscle Actuators
TL;DR: A cascaded sliding-mode (SM) control scheme for a new pneumatic linear axis which could be seen as alternative to an electric direct linear drive and shows an excellent control performance that outperforms alternative control approaches in a comparison.
Journal ArticleDOI
Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer
TL;DR: In this article, a sliding mode control based on non-linear disturbance observer (SMCBNDO) was designed to improve the performance and robustness of control for accurate trajectory tracking.
Journal ArticleDOI
Proxy-based Sliding Mode Control of a Planar Pneumatic Manipulator
Michael Van Damme,Bram Vanderborght,Bjorn Verrelst,Ronald Van Ham,Frank Daerden,Dirk Lefeber +5 more
TL;DR: This paper presents the safe control of a two-degree-of-freedom planar manipulator actuated by Pleated Pneumatic Artificial Muscles, and finds that in spite of the hardware safety features, the system is unsafe when under PID control.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Book
Sliding Modes and their Application in Variable Structure Systems
TL;DR: An electric dynamically operated storage element comprises two energy stores and circuitry is provided for applying periodically repeating phase clock pulses simultaneously to the energy stores through the charging circuits.
Journal ArticleDOI
Control of pneumatic muscle actuators
TL;DR: In this paper, a new high power/weight and power/volume braided pneumatic muscle actuator (PMA) has been developed with considerable power output potential, combined with controllable motion and inherent compliance to prevent damage to handled objects.
Journal ArticleDOI
Modeling the dynamic characteristics of pneumatic muscle.
TL;DR: The study showed that the resulting coefficient functions of the three-element model describe the dynamic response to the step input of P accurately, indicating that the static perturbation results can be applied to the dynamic case.
Proceedings ArticleDOI
Static and dynamic characteristics of McKibben pneumatic artificial muscles
Ching-Ping Chou,Blake Hannaford +1 more
TL;DR: The authors report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models of McKibben artificial muscle pneumatic actuator.