Sliding mode tracking for pneumatic muscle actuators in opposing pair configuration

被引：101

作者：

Lilly, JH ^{[1
]}

Yang, L ^{[1
]}

机构：

[1] Univ Louisville, Dept Elect & Comp Engn, Louisville, KY 40292 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2005年 / 13卷 / 04期

关键词：

actuators; pneumatic systems; robots; sliding mode control; variable structure systems;

D O I：

10.1109/TCST.2005.847333

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Sliding mode techniques are applied to pneumatic muscle actuators arranged in an agonist/antagonist, or opposing pair configuration. The pneumatic muscle (PM) pair actuates a planar elbow manipulator, with PMs in place of bicep and tricep. The control objective is elbow angle tracking under load. A nonlinear mathematical model is derived for this system and a sliding mode controller is designed to give elbow angle tracking to within a guaranteed accuracy despite modeling errors. Static pressure requirements are also derived for stable arm behavior in the absence of a control signal. Stability results are derived, and the results of simulation studies are presented. The simulation studies also address the effects of PM heating.

引用

页码：550 / 558

页数：9

共 20 条

[1] CONTROL OF PNEUMATIC MUSCLE ACTUATORS [J].

CALDWELL, DG ;

MEDRANOCERDA, GA ;

GOODWIN, M .

IEEE CONTROL SYSTEMS MAGAZINE, 1995, 15 (01) :40-48

[2] A fuzzy backstepping controller for a Pneumatic Muscle Actuator system [J].

Carbonell, P ;

Jiang, ZP ;

Repperger, DW .

PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL (ISIC'01), 2001, :353-358

[3]

Chan SW, 2003, IEEE INT CONF FUZZY, P278

[4] Fuzzy control for pneumatic muscle tracking via evolutionary tuning [J].

Chang, X ;

Lilly, JH .

INTELLIGENT AUTOMATION AND SOFT COMPUTING, 2003, 9 (04) :227-244

[5]

CocatreZilgien JH, 1996, J ROBOTIC SYST, V13, P379, DOI 10.1002/(SICI)1097-4563(199606)13:6<379::AID-ROB5>3.0.CO

[6]

2-M

[7]

HAMERLAIN M, 1995, IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 1, P550, DOI 10.1109/IROS.1995.525851

[8] NEURAL-NETWORK CONTROL OF A PNEUMATIC ROBOT ARM [J].

HESSELROTH, T ;

SARKAR, K ;

VANDERSMAGT, PP ;

SCHULTEN, K .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1994, 24 (01) :28-38

[9] Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations [J].

Lilly, JH .

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 2003, 11 (03) :333-339

[10]

MEDRANOCERDA GA, 1995, IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 1, P378, DOI 10.1109/IROS.1995.525824

← 1 2 →