Discrete-time sliding mode control based on exponential reaching law of a pneumatic artificial muscle actuator / Quy-Thinh Dao and Trung-Kien Le Tri

Dao, Quy-Thinh and Tri, Trung-Kien Le (2022) Discrete-time sliding mode control based on exponential reaching law of a pneumatic artificial muscle actuator / Quy-Thinh Dao and Trung-Kien Le Tri. Journal of Mechanical Engineering (JMechE), 19 (1): 17. pp. 221-238. ISSN (eISSN): 2550-164X

Abstract

In this paper, a discrete-time sliding mode control (DSMC) approach based on exponential reaching law (ERL) is developed for a pneumatic artificial muscle (PAM) system to achieve high tracking performance and chattering alleviation. The proposed controller is designed based on an exponential term that dynamically adapts to the variation of the switching function, thus guarantees finite steps convergence and chattering phenomenon reduction simultaneously. Moreover, the effectiveness of the designed controller and its stability on a dual actuator PAM-driven system is demonstrated under various conditions. In addition, a leg-gait pattern is set as trajectory tracking for further validation. Finally, experiment results show that the proposed approach is effective and promising for rehabilitation applications.

Metadata

Item Type: Article
Creators:
Creators
Email / ID Num.
Dao, Quy-Thinh
thinh.daoquy@hust.edu.vn
Tri, Trung-Kien Le
UNSPECIFIED
Subjects: T Technology > TJ Mechanical engineering and machinery > Machine construction (General)
Divisions: Universiti Teknologi MARA, Shah Alam > Faculty of Mechanical Engineering
Journal or Publication Title: Journal of Mechanical Engineering (JMechE)
UiTM Journal Collections: UiTM Journal > Journal of Mechanical Engineering (JMechE)
ISSN: (eISSN): 2550-164X
Volume: 19
Number: 1
Page Range: pp. 221-238
Keywords: Pneumatic Artificial Muscle, Discrete-time Sliding Mode Control, Exponential Reaching Law
Date: January 2022
URI: https://ir.uitm.edu.my/id/eprint/60599
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