Robust control law for pneumatic artificial muscles

Jonathon E. Slightam, Mark L. Nagurka

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

5 Scopus citations

Abstract

This paper presents a modified integral sliding surface, sliding mode control law for pneumatic artificial muscles. The cutoff frequency tuning parameter ? is squared to increase the gradient from absement (integral of position) to position and higher derivatives to reflect the more dominant terms in the actuator dynamics. The sliding mode controller is coupled with proportional and integral action compensation. The control system is sufficiently robust so that use of an observer and input-output feedback linearization are not required. Closed-loop control experiments are compared with traditional sliding mode controller designs presented in the literature for pneumatic artificial muscles. Experiments include the tracking of sinusoidal waves at 0.5 and 1 Hz, tracking of square-like waves with seventh-order trajectory transitions at a rate of 0.2 Hz without and with a steady-state period of 10 seconds, as well as a step input response. These experiments indicate that the control law provides similar bandwidth, tracking, and steady-state performance as approaches requiring nonlinear feedback and model observation for pneumatic artificial muscles. Experiments demonstrate an accuracy of 50 µm at steady-state with no overshoot and maximum tracking errors less than 0.4 mm for smooth square-like trajectories.

Original languageEnglish
Title of host publicationASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791858332
DOIs
StatePublished - 1 Jan 2017
Externally publishedYes
EventASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017 - Sarasota, United States
Duration: 16 Oct 201719 Oct 2017

Publication series

NameASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017

Conference

ConferenceASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017
Country/TerritoryUnited States
CitySarasota
Period16/10/1719/10/17

ASJC Scopus subject areas

  • Fluid Flow and Transfer Processes
  • Control and Systems Engineering

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