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

被引：12

作者：

Duong, Minh-Duc ^{[1
]}

Pham, Quang-Thuyet ^{[1
]}

Vu, Tuan-Chien ^{[1
]}

Bui, Ngoc-Tam ^{[2
]}

Dao, Quy-Thinh ^{[1
]}

机构：

[1] Hanoi Univ Sci & Technol, Hanoi 11615, Vietnam

[2] Shibaura Inst Technol, Saitama 3378570, Japan

来源：

SCIENTIFIC REPORTS | 2023年 / 13卷 / 01期

关键词：

PID CONTROL; ROBOT; MANIPULATOR; REHABILITATION; EXOSKELETON; ORTHOSIS; TRACKING; SYSTEM;

D O I：

10.1038/s41598-023-34491-3

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

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.

引用

页数：12

共 40 条

[1] Nonlinear PID control to improve the control performance of the pneumatic artificial muscle manipulator using neural network [J].