Accurate positioning of pneumatic artificial muscle at different temperatures using LabVIEW based sliding mode controller

Author

Sarosi, J.

Author_Institution

Fac. of Eng., Univ. of Szeged, Szeged, Hungary

fYear

2014

fDate

15-17 May 2014

Firstpage

85

Lastpage

89

Abstract

Pneumatic artificial muscles (PAMs) are difficult to control because of their highly nonlinear and time varying nature, thus robust control method is needed. Sliding mode control can be favourably used for accurate positioning of PAMs. In this paper the error of sliding mode control based positioning of a Fluidic Muscle at different temperatures is determined. The controller is developed in LabVIEW and the error of the experiments shows 0.01 mm.

Keywords

electroactive polymer actuators; fluidic devices; nonlinear control systems; position control; robust control; time-varying systems; variable structure systems; virtual instrumentation; LabVIEW based sliding mode controller; PAM; controller development; fluidic muscle; nonlinear control; pneumatic artificial muscle; robust control method; sliding mode control based positioning; time-varying system; Actuators; Computational modeling; Muscles; Sliding mode control; Temperature control; Temperature measurement; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Computational Intelligence and Informatics (SACI), 2014 IEEE 9th International Symposium on

Conference_Location

Timisoara

Type

conf

DOI

10.1109/SACI.2014.6840040

Filename

6840040