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Discrete-time sliding mode control with power rate exponential reaching law of a pneumatic artificial muscle system
Quy-ThinhDao1,Trung-KienLeTri1,Van-AnhNguyen1,Manh-LinhNguyen1
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(1 School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Dai Co Viet, Hanoi 11615, Vietnam)
摘要:
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.
关键词:  Pneumatic artificial muscle · Discrete-time sliding mode control · Exponential reaching law · Chattering
DOI:https://doi.org/10.1007/s11768-022-00117-8
基金项目:Quy-Thinh Dao, Trung-Kien Le Tri, Van-Anh Nguyen and Manh-Linh Nguyen have contributed equally to this work.
Discrete-time sliding mode control with power rate exponential reaching law of a pneumatic artificial muscle system
Quy-Thinh Dao1,Trung-Kien Le Tri1,Van-Anh Nguyen1,Manh-Linh Nguyen1
(1 School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Dai Co Viet, Hanoi 11615, Vietnam)
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.
Key words:  Pneumatic artificial muscle · Discrete-time sliding mode control · Exponential reaching law · Chattering