Improved fuzzy sliding mode control in flexible manipulator actuated by PMAs
Fang Li, Zheng Zhang, Yang Wu, Yining Chen, Kai Liu, Jiafeng Yao
Abstract
Abstract Pneumatic muscle actuator (PMA) similar to biological muscle is a new type of pneumatic actuator. The flexible manipulator based on PMAs was constructed to simulate the actual movement of the human upper arm. Considering the model errors and external disturbances, the fuzzing sliding mode control based on the saturation function was proposed. Compared with other fuzzy control methods, fuzzy control and saturation function are used to adjust the robust terms to improve the tracking accuracy and reduce the high-frequency chattering.
Topics & Concepts
Control theory (sociology)ActuatorControl engineeringFuzzy logicSliding mode controlManipulator (device)Computer scienceEngineeringMode (computer interface)Fuzzy control systemControl (management)Robotic armArtificial intelligenceNonlinear systemPhysicsOperating systemQuantum mechanicsProsthetics and Rehabilitation RoboticsHydraulic and Pneumatic SystemsMuscle activation and electromyography studies