Author:
Dao Quy-Thinh,Dinh Vuong Van,Vu Chien Tuan,Pham Thuyet Quang,Duong Duc Minh
Abstract
The Pneumatic Artificial Muscle (PAM) is a promising actuator for developing the human-robot interaction system. However, modeling and controlling PAM-based actuators are a significant difficulty due to the inherent uncertainty and hysteresis of PAM. Besides, the control approach of a PAM-based system also deals with unknown disturbances that always exist in any system. This study developed a sliding mode controller that employs an adaptive law to deal with issues and improve control performance. Furthermore, the stability of the proposed controller is proven based on the Lyapunov stability criterion. Finally, through a series of tests, the effectiveness of the proposed control approach is verified.
Publisher
Engineering, Technology & Applied Science Research
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