Tracking Control of a 2-DOF Arm Actuated by Pneumatic Muscle Actuators Using Adaptive Fuzzy Sliding Mode Control

Abstract

Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.

Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller

“…Sliding model [32,33], saturated adaptive robust control [34], and predictive control [35] have been developed for position control. In [36] adaptive fuzzy sliding-mode control was applied to muscle position control and inversion based control concept was used in [37].…”

Modeling and control of a pneumatic artificial muscle manipulator joint – Part I: Modeling of a pneumatic artificial muscle manipulator joint with accounting for creep effect

“…These two phenomena lead to a nonlinear and time-varying behavior and to an increased complexity in the associated control systems. In previous studies on PAMs or PAM manipulators, these drawbacks were mostly left as uncertainties or disturbances to the associated control systems, and the efforts to overcome them were mainly put into the control algorithms, such as sliding mode control [7], nonlinear PID control using neural networks [8], adaptive sliding mode control [9], or NAX fuzzy model by means of genetic algorithm [22].…”