Fuzzy-Sliding Mode Control for Humanoid Arm Robots Actuated by Pneumatic Artificial Muscles With Unidirectional Inputs, Saturations, and Dead Zones

Liang, Dingkun; Sun, Ning; Wu, Yiming; Liu, Gendi; Fang, Yongchun

doi:10.1109/tii.2021.3111655

Cited by 34 publications

(4 citation statements)

References 32 publications

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“…PAMs is the major artificial muscle research and application topic for its high compliance, safety, and force ( Abu Mohareb et al, 2021 ; Liang et al, 2022a ), with the same long history as natural skeletal muscle. Since Pelrine et al investigated the large strains, fracture toughness, and fast response of acrylic and silicone elastomers compared to a natural muscle in 2000 ( Pelrine et al, 2000 ), DEA related papers have been studied extensively, but the technology development is rare.…”

Section: Resultsmentioning

confidence: 99%

Advances in artificial muscles: A brief literature and patent review

Jing

Su²,

Yu³

et al. 2023

Front. Bioeng. Biotechnol.

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Background: Artificial muscles are an active research area now.Methods: A bibliometric analysis was performed to evaluate the development of artificial muscles based on research papers and patents. A detailed overview of artificial muscles’ scientific and technological innovation was presented from aspects of productive countries/regions, institutions, journals, researchers, highly cited papers, and emerging topics.Results: 1,743 papers and 1,925 patents were identified after retrieval in Science Citation Index-Expanded (SCI-E) and Derwent Innovations Index (DII). The results show that China, the United States, and Japan are leading in the scientific and technological innovation of artificial muscles. The University of Wollongong has the most publications and Spinks is the most productive author in artificial muscle research. Smart Materials and Structures is the journal most productive in this field. Materials science, mechanical and automation, and robotics are the three fields related to artificial muscles most. Types of artificial muscles like pneumatic artificial muscles (PAMs) and dielectric elastomer actuator (DEA) are maturing. Shape memory alloy (SMA), carbon nanotubes (CNTs), graphene, and other novel materials have shown promising applications in this field.Conclusion: Along with the development of new materials and processes, researchers are paying more attention to the performance improvement and cost reduction of artificial muscles.

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Section: Resultsmentioning

confidence: 99%

Advances in artificial muscles: A brief literature and patent review

Jing

Su²,

Yu³

et al. 2023

Front. Bioeng. Biotechnol.

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“…In these articles, fuzzy logic plays a role in adjusting the control parameters. Reference 35 proposed an adaptive fuzzy sliding mode control approach to regulate a PAM system without a pre-defined model, in which the unknown parameters are estimated using fuzzy functions. Similarly, Ref.…”

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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“…Among several methods to improve the safety of robots, the most effective one may be to replace traditional electromechanical manipulators with compliant manipulators. Pneumatic artificial muscles (PAMs) are a class of promising compliant actuators with the advantages of low cost, safety, cleanliness and high power-weight ratio, 4,5 which makes PAM-driven manipulators attract increasing attention in the field of human-computer interaction.…”

Section: Introductionmentioning

confidence: 99%

Design, analysis and experiment of robust adaptive repetitive angle tracking control for a one-DOF manipulator driven by pneumatic artificial muscles

Guo

Liu

Zheng

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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There exist nonlinearities, uncertainties and time-varying characteristics in the system dynamics of manipulators driven by pneumatic artificial muscles (PAMs), which makes the accurate dynamic modeling and controller design challenging. In this paper, a robust adaptive repetitive control scheme is proposed to solve the periodic-trajectory tracking problem for a one-degree of freedom (one-DOF) manipulator driven by two PAMs. First, the system model of the one-DOF PAM-driven manipulator is analyzed and derived. Next, during output constraint design by using a barrier Lyapunov function, a sliding mode surface is reasonably constructed to compensate for the differential term of time-varying constraint parameter. Then, with the help of Lipchitz condition, signal replacement technique and reparameterization are implemented to deal with nonparametric uncertainties in the manipulator system for the subsequent uncertainty compensation by using difference learning method and robust feedback strategy. Moreover, the stability of closed-loop PAM-driven manipulator is proven theoretically by using Lyapunov synthesis. In the end, comparative experiments are provided on a self-built PAM testbed to demonstrated the effectiveness of the proposed robust adaptive repetitive control scheme.

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Fuzzy-Sliding Mode Control for Humanoid Arm Robots Actuated by Pneumatic Artificial Muscles With Unidirectional Inputs, Saturations, and Dead Zones

Cited by 34 publications

References 32 publications

Advances in artificial muscles: A brief literature and patent review

Advances in artificial muscles: A brief literature and patent review

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

Design, analysis and experiment of robust adaptive repetitive angle tracking control for a one-DOF manipulator driven by pneumatic artificial muscles

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