Modeling of Pneumatic Artificial Muscle with Kinetic Friction and Sliding Mode Control

Jonathon E. Slightam, Mark L. Nagurka

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations


A nonlinear lumped-parameter state-space model of a pneumatic artificial muscle that accounts for kinetic friction is developed. Model simulations are reported for square-wave command signals at different frequencies. Comparisons to experimental results demonstrate the fidelity of the model. A new sliding mode control tuning parameter is introduced that increases the gradient of the error dynamic poles of the sliding surface with respect to lower order errors. With this method input-output feedback linearization and model observation are not needed. A third-order integral sliding mode control law exhibits steady-state errors of ±15μ m or less with a maximum error of 0.29 mm or less when tracking a 7th-order square-wave position trajectory with an amplitude of 5.40 mm. This simplified sliding mode control law shows advantages compared to a conventional approach.

Original languageEnglish
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)9781538654286
StatePublished - 9 Aug 2018
Externally publishedYes
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: 27 Jun 201829 Jun 2018

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2018 Annual American Control Conference, ACC 2018
Country/TerritoryUnited States


  • Fluid-Power Control
  • Modeling
  • Pneumatic Artificial Muscles
  • Sliding Mode Control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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