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Open AccessArticle

Discrete-Time Fractional Order Integral Sliding Mode Control of an Antagonistic Actuator Driven by Pneumatic Artificial Muscles

1
Graduate School of Engineering and Science, Shibaura Institute of Technology, Saitama 337-8570, Japan
2
Department of Industrial Automation, Hanoi University of Science and Technology, Ha Noi 11615, Vietnam
3
Department of Bioscience and Engineering, Shibaura Institute of Technology, Saitama 337-8570, Japan
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(12), 2503; https://doi.org/10.3390/app9122503
Received: 22 May 2019 / Revised: 17 June 2019 / Accepted: 18 June 2019 / Published: 19 June 2019
(This article belongs to the Special Issue Human Health Engineering)
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Abstract

Recently, pneumatic artificial muscles (PAMs), a lightweight and high-compliant actuator, have been increasingly used in assistive rehabilitation robots. PAM-based applications must overcome two inherent drawbacks. The first is the nonlinearity due to the compressibility of the air, and the second is the hysteresis due to its geometric construction. Because of these drawbacks, it is difficult to construct not only an accurate mathematical model but also a high-performance control scheme. In this paper, the discrete-time fractional order integral sliding mode control approach is investigated to deal with the drawbacks of PAMs. First, a discrete-time second order plus dead time mathematical model is chosen to approximate the characteristics of PAMs in the antagonistic configuration. Then, the fractional order integral sliding mode control approach is employed together with a disturbance observer to improve the trajectory tracking performance. The effectiveness of the proposed control method is verified in multi-scenario experiments using a physical actuator. View Full-Text
Keywords: pneumatic artificial muscle; sliding mode control; fractional calculus; antagonistic actuator pneumatic artificial muscle; sliding mode control; fractional calculus; antagonistic actuator
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Dao, Q.-T.; Nguyen, M.-L.; Yamamoto, S.-I. Discrete-Time Fractional Order Integral Sliding Mode Control of an Antagonistic Actuator Driven by Pneumatic Artificial Muscles. Appl. Sci. 2019, 9, 2503.

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