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Adaptive proxy-based sliding mode control for a class of second-order nonlinear systems and its application to pneumatic muscle actuators

Authors :
Yu Cao
Jian Huang
Yan-Wu Wang
Source :
ISA Transactions. 124:395-402
Publication Year :
2022
Publisher :
Elsevier BV, 2022.

Abstract

The human-centered robotic systems demand safe and robust controllers in many applications. This paper proposes an adaptive proxy-based sliding mode control approach for a class of typical second-order nonlinear systems. A new PID-type virtual coupling is designed between a virtual proxy and the physical object. Considering the unknown bound of lumped disturbances, an adaptation law is applied to online adjust the gain of a sign function which ensures the proxy to track the reference accurately. By using the Lyapunov theorem, the closed-loop system stability is proved. Both simulations and experiments are conducted to verify the proposed method based on a real-world pneumatic muscle actuator control platform. The results show that the proposed adaptive proxy-based sliding mode control approach presents better tracking accuracy, safety, and robustness than the conventional PID control and sliding mode control.

Details

ISSN :
00190578
Volume :
124
Database :
OpenAIRE
Journal :
ISA Transactions
Accession number :
edsair.doi.dedup.....2fc1f7f101d0be8de0bcfdf23260f072
Full Text :
https://doi.org/10.1016/j.isatra.2020.09.009