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Discrete-time sliding mode control with power rate exponential reaching law of a pneumatic artificial muscle system

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Abstract

This paper develops a discrete-time sliding mode controller with a power rate exponential reaching law approach to enhance the performance of a pneumatic artificial muscle system in both reaching time and chattering reduction. The proposed method dynamically adapts to the variation of the switching function, which is based on an exponential term and a power rate term of the sliding surface. Thus, the controlled system can achieve high tracking performance while still obtain chattering-free control. Moreover, the effectiveness of the proposed method is validated through multiple experimental tests, focused on a dual pneumatic artificial muscle system. Finally, experimental results show the effectiveness of the proposed approach in this paper.

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Abbreviations

PAM:

Pneumatic artificial muscle

PID:

Proportional integral derivative

SISO:

Single input single output

DSMC:

Discrete-time sliding mode control

ERL:

Exponential reaching law

PRERL:

Power rate exponential reaching law

RMSE:

Root mean square error

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Authors and Affiliations

  1. School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Dai Co Viet, Hanoi, 11615, Vietnam

    Quy-Thinh Dao, Trung-Kien Le Tri, Van-Anh Nguyen & Manh-Linh Nguyen

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  1. Quy-Thinh Dao
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  2. Trung-Kien Le Tri
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  3. Van-Anh Nguyen
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  4. Manh-Linh Nguyen
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Correspondence to Quy-Thinh Dao or Trung-Kien Le Tri.

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Quy-Thinh Dao, Trung-Kien Le Tri, Van-Anh Nguyen and Manh-Linh Nguyen have contributed equally to this work.

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Dao, QT., Le Tri, TK., Nguyen, VA. et al. Discrete-time sliding mode control with power rate exponential reaching law of a pneumatic artificial muscle system. Control Theory Technol. 20, 514–524 (2022). https://doi.org/10.1007/s11768-022-00117-8

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  • DOI: https://doi.org/10.1007/s11768-022-00117-8

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