Paper Info
Title
Sliding mode control with fuzzy compensator of pneumatic muscle actuator
Abstract
In this paper, the Pneumatic Muscle (PM) as actuator is investigated. The PM model is established by using a phenomenological model consisting of a contractile element, a spring element, and a damping element in parallel. Unlike the previous study, we fully consider the different characteristics of PM model in different pressure ranges, especially in low pressure range. In order to test the effectiveness of our PM modelling, the Sliding Mode Control (SMC) is applied. For the purpose of improving the tracking accuracy, self-adaptation and robustness of PM control, Sliding Mode Control with Fuzzy Compensator (FCSMC) is developed to make PM system track a desired trajectory within a guaranteed accuracy even though there are modelling uncertainties, friction, disturbance, and so on. Based on the Lyapunov theory, the stability criterion under FCSMC control strategy for PM system is established. The experimental results demonstrate the validity of PM modelling as well as indicate the effectiveness of the proposed FCSMC method.
Year
DOI
Venue
2012
10.1504/IJCAT.2012.050113
IJCAT
Keywords
Field
DocType
pneumatic muscle actuator,pm system,contractile element,mode control,pm control,proposed fcsmc method,fuzzy compensator,pm modelling,pm system track,pm model,fcsmc control strategy,phenomenological model,sliding mode control,fuzzy logic,robust control,actuators,smc
Stability criterion,Lyapunov function,Control theory,Fuzzy logic,Control engineering,Robustness (computer science),Engineering,Robust control,Trajectory,Sliding mode control,Actuator
Journal
Volume
Issue
ISSN
44
4
0952-8091
Citations 
PageRank 
References 
1
0.36
11
Authors
4
Name
Order
Citations
PageRank
Jun Wu1546.16
Yongji Wang260675.34
Jian Huang32608200.50
Kexin Xing4584.44