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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
- 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.
- Subjects :
- 0209 industrial biotechnology
Adaptive control
Computer science
Muscles
Applied Mathematics
020208 electrical & electronic engineering
Sign function
PID controller
02 engineering and technology
Sliding mode control
Computer Science Applications
Nonlinear system
020901 industrial engineering & automation
Control and Systems Engineering
Robustness (computer science)
Control theory
0202 electrical engineering, electronic engineering, information engineering
Humans
Electrical and Electronic Engineering
Actuator
Pneumatic muscle actuator
Instrumentation
Subjects
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