Title :
Sliding mode tracking for pneumatic muscle actuators in bicep/tricep pair configuration
Author :
Yang, Liang ; Lilly, John H.
Author_Institution :
Dept. of Electr. & Comput. Eng., Louisville Univ., KY, USA
Abstract :
This paper presents a robust motion control of pneumatic muscle actuators arranged in bicep/tricep pair configuration to deal with system and environmental uncertainties using the sliding mode approach. A mathematical model is derived for an arm with PMs in bicep/tricep pair configuration. A sliding mode controller is designed to yield asymptotic tracking of elbow angle. The results of simulations are presented to demonstrate the success of the proposed controller.
Keywords :
control system synthesis; pneumatic actuators; robust control; variable structure systems; asymptotic elbow angle tracking; bicep/tricep pair configuration; environmental uncertainties; pneumatic muscle actuators; robust motion control; slide mode tracking; sliding mode controller; system uncertainties; Elbow; Electric motors; Humans; Hydraulic actuators; Injuries; Mathematical model; Muscles; Plastics; Pneumatic actuators; Sliding mode control;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1242460
