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

被引：12

作者：

Van Damme, M. ^{[1
]}

Vanderborght, B. ^{[1
]}

Beyl, P. ^{[1
]}

Versluys, R. ^{[1
]}

Vanderniepen, I. ^{[1
]}

Van Ham, R. ^{[1
]}

Cherelle, P. ^{[1
]}

Daerden, F. ^{[1
]}

Lefeber, D. ^{[1
]}

机构：

[1] Vrije Univ Brussel, Dept Mech Engn, Robot & Multibody Mech Res Grp, B-1050 Brussels, Belgium

来源：

INTERNATIONAL APPLIED MECHANICS | 2008年 / 44卷 / 10期

关键词：

Soft; 2-DOF; planar pneumatic manipulator; sliding mode controller; artificial muscle actuator;

D O I：

10.1007/s10778-009-0134-6

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

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.

引用

页码：1191 / 1199

页数：9