Discrete-time fractional order integral sliding mode control of an antagonistic actuator driven by pneumatic artificial muscles

Quy Thinh Dao, Manh Linh Nguyen, Shinichirou Yamamoto

Research output: Contribution to journalArticle

1 Citation (Scopus)


Recently, pneumatic artificial muscles (PAMs), a lightweight and high-compliant actuator, have been increasingly used in assistive rehabilitation robots. PAM-based applications must overcome two inherent drawbacks. The first is the nonlinearity due to the compressibility of the air, and the second is the hysteresis due to its geometric construction. Because of these drawbacks, it is difficult to construct not only an accurate mathematical model but also a high-performance control scheme. In this paper, the discrete-time fractional order integral sliding mode control approach is investigated to deal with the drawbacks of PAMs. First, a discrete-time second order plus dead time mathematical model is chosen to approximate the characteristics of PAMs in the antagonistic configuration. Then, the fractional order integral sliding mode control approach is employed together with a disturbance observer to improve the trajectory tracking performance. The effectiveness of the proposed control method is verified in multi-scenario experiments using a physical actuator.

Original languageEnglish
Article number503
JournalApplied Sciences (Switzerland)
Issue number12
Publication statusPublished - 2019 Jun 1



  • Antagonistic actuator
  • Fractional calculus
  • Pneumatic artificial muscle
  • Sliding mode control

ASJC Scopus subject areas

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes

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