Paper Info
Title
High Order Homogeneous Sliding Mode Control for a Robot Arm with Pneumatic Artificial Muscles
Abstract
This paper deals with the development of a robust control law for a robot arm driven by artificial muscles. Such systems are known by the nonlinearity and inaccuracy of their models, these characteristics make them difficult to control by classical command laws. For this reason, an algorithm based on the high order sliding mode (HOSM) control is proposed. The idea is to raise the relative degree of the system to allow the use of homogeneity theory in the HOSM. Simulation results show that the suggested controller is able to compensate the model uncertainty and nonlinearity. Add to that, it improves the HOSM performance.
Year
DOI
Venue
2019
10.1109/IECON.2019.8927339
IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
Keywords
Field
DocType
high order sliding mode,homogeneity,nonlinear systems,robust control,super twisting,pneumatic artificial muscle,variable structure systems
Robotic arm,Control theory,Nonlinear system,Control theory,Control engineering,Robustness (computer science),Pneumatic artificial muscles,Engineering,Artificial muscle,Sliding mode control,Actuator
Conference
Volume
ISSN
ISBN
1
1553-572X
978-1-7281-4879-3
Citations 
PageRank 
References 
0
0.34
15
Authors
2
Name
Order
Citations
PageRank
Lamia Melkou100.34
M. Hamerlain24111.28