Sliding mode control of pneumatic artificial muscle for robot application
As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. Th e design of a stable robust position controller for PAM is difficult since it is a very nonlinear timevariant control...
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| Main Author: | |
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| Format: | Article |
| Published: |
2009
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| Series: | Review of faculty of engineering : analecta technica Szegedinensia
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| Kulcsszavak: | Mérnöki tudományok |
| Online Access: | http://acta.bibl.u-szeged.hu/11791 |
| Summary: | As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. Th e design of a stable robust position controller for PAM is difficult since it is a very nonlinear timevariant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution o f this paper is a robust position control method based on sliding mod e for a robot arm, driven by pneumati c muscle actuator. Finally, it presents experimental results. |
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| Physical Description: | 28-35 |
| ISSN: | 1788-6392 |