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Appl. Sci. 2019, 9(8), 1571; https://doi.org/10.3390/app9081571

An Extended Proxy-Based Sliding Mode Control of Pneumatic Muscle Actuators

1, 1,* and 2
1
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
2
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China
*
Author to whom correspondence should be addressed.
Received: 24 March 2019 / Revised: 10 April 2019 / Accepted: 12 April 2019 / Published: 16 April 2019
(This article belongs to the Special Issue Human Friendly Robotics)
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PDF [2347 KB, uploaded 16 April 2019]
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Abstract

To solve the problem of controlling an intrinsically compliant actuator, pneumatic muscle actuator (PMA), this paper presents an extended proxy-based sliding mode control (EPSMC) strategy. It is well known that the chattering phenomenon of conventional sliding mode control (SMC) can be effectively solved by introducing a proxy between the physical object and desired position, which results in the so-called proxy-based sliding mode control (PSMC). To facilitate the theoretical analysis of PSMC and obtain a more general form of controller, a new virtual coupling and a SMC are used in our proposed EPSMC. For a class of second-order nonlinear system, the sufficient conditions ensuring the stability and passivity are obtained by using the Lyapunov functional method. Experiments on a real-time PMA control platform validate the effectiveness of the proposed method, and comparison studies also show the superiority of EPSMC over the conventional SMC, PSMC, and PID controllers. View Full-Text
Keywords: pneumatic muscle actuator (PMA); extended proxy-based sliding mode control (EPSMC); stability; passivity; tracking control pneumatic muscle actuator (PMA); extended proxy-based sliding mode control (EPSMC); stability; passivity; tracking control
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Zhao, W.; Song, A.; Cao, Y. An Extended Proxy-Based Sliding Mode Control of Pneumatic Muscle Actuators. Appl. Sci. 2019, 9, 1571.

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