Sliding mode control of a “Soft” 2-DOF Planar Pneumatic Manipulator

Abstract

This paper presents a sliding mode controller for a "Soft" 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed

A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles

“…x N ) is the vector of unknown variables. In (10), the symbol < refers to negative definite 3 . One way of tuning simultaneously the H ∞ performance and transient behavior is to combine H ∞ and pole placement objectives using LMI optimization techniques.…”

“…Robust controllers are necessary to deal with uncertainties and to ensure high precision positioning. They have been applied as a nonlinear feedback using sliding modes by [3] for a planar 2 DOF manipulator. In [4] problems of nonlinear controllers is difficulty in the synthesis of the control law and the high computational amount.…”

A mixed GPC-H<inf>&#x221E;</inf> robust cascade position-pressure control strategy for electropneumatic cylinders

“…It is a common thing to use PAMs in agonist/antagonist way for angle movement generation or torque control. More details about PAMs can be found in [23] [24] and [5]. All actuators can be driven by two 5/3-way proportional valves 4 .…”

“…Robust controllers are mandatory to deal with disturbances and uncertainties and to ensure high precision positioning. They have been applied as a nonlinear feedback using sliding modes [3] [4] [5] or adaptive control techniques [6], [7] or by using linear robust control techniques such as H ∞ control [8] [9] after feedback linearization [10] [11]. The major drawback of nonlinear controllers is the difficulty in the synthesis of the control law and the high computational amount.…”

Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics

“…Pneumatic and hydraulic actuators have a complicated nonlinear dynamics that is often approximated by the first-or the second-order dynamics [34]. Modeling and control of fully-actuated 3 systems with including actuator dynamics are considered in literature, using pneumatic-driven systems [24,30], electrical-driven [13,28] and hydraulic-driven [1] systems. After combining actuators equations with dynamic equations of UNMS, the third-and higher-order dynamic equations are obtained, what highly complicates control law derivation.…”