Sliding Mode Control of a 2DOF Planar Pneumatic Manipulator

被引：6

作者：

Van Damme, Michael ^{[1
]}

Vanderborght, Bram ^{[1
]}

Van Ham, Ronald ^{[1
]}

Verrelst, Bjorn ^{[1
]}

Daerden, Frank ^{[1
]}

Lefeber, Dirk ^{[1
]}

机构：

[1] Vrije Univ Brussel, Robot & Multibody Mech Res Grp, Dept Mech Engn, B-1050 Brussels, Belgium

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2009年 / 131卷 / 02期

关键词：

control system synthesis; feedback; linearisation techniques; manipulator dynamics; pneumatic actuators; valves; variable structure systems; ARTIFICIAL MUSCLE; SWITCHING CONTROL; ROBOT; ACTUATORS; TRACKING; DRIVEN; SAFETY; SYSTEMS;

D O I：

10.1115/1.3023132

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a sliding mode controller for a 2DOF planar pneumatic manipulator actuated by pleated pneumatic artificial muscle actuators. It is argued that it is necessary to account for the pressure dynamics of muscles and valves. A relatively detailed system model that includes pressure dynamics is established. Since the model includes actuator dynamics, feedback linearization was necessary to design a sliding mode controller. The feedback linearization and subsequent controller design are presented in detail, and the controller's performance is evaluated, both in simulation and experimentally. Chattering was found to be quite severe, so the introduction of significant boundary layers was required.

引用

页码：1 / 12

页数：12

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