Sliding mode impedance control of a hydraulic artificial muscle

Jonathon E. Slightam, Mark L. Nagurka, Eric J. Barth

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

9 Scopus citations


Hydraulic artificial muscles offer unrivaled specific power and power density and are instrumental to the improved performance and success of soft robotics and lightweight mobile applications. This paper addresses the lack of model-based impedance control approaches for soft actuators such as hydraulic artificial muscles. Impedance control of actuators and robotic systems has been proven to be an effective approach for interacting with physical objects in the presence of uncertainty. A sliding mode impedance control approach based on Filippov’s principle of equivalent dynamics is introduced and applied to a hydraulic artificial muscle. A nonlinear lumped parameter model of the system is presented and a sliding mode impedance controller is derived. Experimental results show superior performance using model-based sliding mode impedance control versus a linear impedance control law in both tracking of position and stiffness when disturbances are introduced.

Original languageEnglish
Title of host publicationAdvances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791851890
StatePublished - 1 Jan 2018
Externally publishedYes
EventASME 2018 Dynamic Systems and Control Conference, DSCC 2018 - Atlanta, United States
Duration: 30 Sep 20183 Oct 2018

Publication series

NameASME 2018 Dynamic Systems and Control Conference, DSCC 2018


ConferenceASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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