Adaptive Parameter Integral Sliding Mode Control of Pneumatic Artificial Muscles in Antagonistic Configuration

Dao, Quy-Thinh; Mai, Dinh-Hoang; Nguyen, Dang-Khanh; Ly, Ngoc-Thuan

doi:10.1007/s40313-022-00902-5

Cited by 12 publications

(9 citation statements)

References 30 publications

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“…The model parameters are and . In [17], the authors chose a secondorder discrete-time model (with m = n = 2) and the leastsquares method to determine the mathematical model for PAM. The coefficients of the model are shown in Table I.…”

Section: P P P P P Pmentioning

confidence: 99%

“…The deviation in mathematical model estimation and the sensitivity to external disturbances are obstacles that need to be overcome if the PAM control is to achieve optimal performance. Many algorithms have been proposed to solve the control problem for this actuator, such as the traditional PID controller and its enhanced variations [14][15][16][17][18][19]. Nevertheless, the above controllers show limitations for the hysteresis and nonlinear characteristics of PAM.…”

Section: Introductionmentioning

confidence: 99%

“…Nonlinear controllers to address the limitations of PID controllers, such as the fuzzy controller [20,21], the neural network based controller [22], and the nonlinear ADRC controller [23], have been employed in several recent studies. In addition, the sliding mode controller and its various versions are always the leading candidates for the tasks of controlling nonlinear objects [17,[24][25][26][27]. Nonetheless, PAM is a nonlinear object, and the parameter estimation for the model of the PAM-based system is approximate and if the system disturbance is very high, it definitely affects the control quality of the aforementioned methods.…”

Section: Introductionmentioning

confidence: 99%

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An Adaptive Sliding Mode Controller for a PAM-based Actuator

Dao

Dinh²,

Vu³

et al. 2023

Eng. Technol. Appl. Sci. Res.

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The Pneumatic Artificial Muscle (PAM) is a promising actuator for developing the human-robot interaction system. However, modeling and controlling PAM-based actuators are a significant difficulty due to the inherent uncertainty and hysteresis of PAM. Besides, the control approach of a PAM-based system also deals with unknown disturbances that always exist in any system. This study developed a sliding mode controller that employs an adaptive law to deal with issues and improve control performance. Furthermore, the stability of the proposed controller is proven based on the Lyapunov stability criterion. Finally, through a series of tests, the effectiveness of the proposed control approach is verified.

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Section: P P P P P Pmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Adaptive Sliding Mode Controller for a PAM-based Actuator

Dao

Dinh²,

Vu³

et al. 2023

Eng. Technol. Appl. Sci. Res.

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“…A nonlinear PID-based controller 17 – 21 for enhancing correction of non-linear hysteresis phenomenon and increased robustness. A fuzzy PID controller 22 – 25 is proposed to improve trajectory tracking performance. Most of the mentioned controllers have decent performance.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy sliding mode control of an actuator powered by two opposing pneumatic artificial muscles

Duong

Pham

et al. 2023

Sci Rep

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Pneumatic artificial muscle (PAM) is a potential actuator in human–robot interaction systems, especially rehabilitation systems. However, PAM is a nonlinear actuator with uncertainty and a considerable delay in characteristics, making control challenging. This study presents a discrete-time sliding mode control approach combined with the adaptive fuzzy algorithm (AFSMC) to deal with the unknown disturbance of the PAM-based actuator. The developed fuzzy logic system has parameter vectors of the component rules that are automatically updated by an adaptive law. Consequently, the developed fuzzy logic system can reasonably approximate the system disturbance. When operating the PAM-based system in multi-scenario studies, experimental results confirm the efficiency of the proposed strategy.

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“…Various control methods have been used to control different robotic arms and manipulators driven by artificial muscles. The early control strategies were based on classical linear controllers [ 11 ], and then some modern control schemes were developed using adaptive controllers [ 12 , 13 ], sliding-mode controllers [ 14 ], fuzzy controllers [ 15 ], neural-network controllers [ 16 ] and others. In most research studies, proportional directional control valves were used.…”

Section: Introductionmentioning

confidence: 99%

Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles

Šitum

Herceg

Bolf

et al. 2023

Sensors

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This paper describes the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic artificial muscles (PAMs) for the tasks of transporting and sorting work pieces. An antagonistic muscle pair is used in a rotational sense to produce a required torque on a pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. Different conceptions of the system realizations are analyzed using the morphological-matrix conceptual design framework and top-rated solution was practically realized. A simplified, control-oriented mathematical model of the manipulator arm driven by PAMs and controlled with a proportional control valve is derived. The model is then used for a controller design process. Fluidic muscles have great potential for industrial applications and assembly automation to actuate new types of robots and manipulators. Their characteristics, such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity, are worthy features for advanced manipulation systems. The experiments were carried out on a practically realized manipulator actuated by a pair of muscle actuators set into an antagonistic configuration. The setup also includes an original solution for the subsystem to add work pieces in the working space of the manipulator.

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Adaptive Parameter Integral Sliding Mode Control of Pneumatic Artificial Muscles in Antagonistic Configuration

Cited by 12 publications

References 30 publications

An Adaptive Sliding Mode Controller for a PAM-based Actuator

An Adaptive Sliding Mode Controller for a PAM-based Actuator

Adaptive fuzzy sliding mode control of an actuator powered by two opposing pneumatic artificial muscles

Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles

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