Sliding Mode Control Based on Nonlinear Disturbance Observer for Pneumatic Artificial Muscle

Thuy Nguyen Vu; Quy Thinh Dao; Van Thuc Tran; Shin ichiroh Yamamoto

doi:10.1007/978-3-030-66169-4_26

Sliding Mode Control Based on Nonlinear Disturbance Observer for Pneumatic Artificial Muscle

Thuy Nguyen Vu, Quy Thinh Dao, Van Thuc Tran, Shin ichiroh Yamamoto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Pneumatic artificial muscles (PAMs) have many advantages such as the natural compliant, lightweight, high ratio of weight to power, thus making them an ideal choice for humanoid robots using in the rehabilitation system. However, control strategies of PAMs are facing difficulties due to their high nonlinear characteristics, uncertainties and response lag. The three-element model [1], which consists of a contractile element, spring element and damping element in parallel, was investigated to describe the dynamics of PAMs. To improve the trajectory tracking performance of PAM, a sliding mode control based on nonlinear disturbance observer (SMCBNDO) was applied. The experimental results show that the identified three-elements model of PAM and the SMCBNDO can achieve good accuracy of trajectory tracking controller. This work proved that this model and non-linear control method can be used for the application of the PAM-based rehabilitation system.

Original language	English
Title of host publication	11th Asian-Pacific Conference on Medical and Biological Engineering - Proceedings of the Online Conference, APCMBE 2020
Editors	Yasuyuki Shiraishi, Ichiro Sakuma, Keiji Naruse, Akinori Ueno
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	202-214
Number of pages	13
ISBN (Print)	9783030661687
DOIs	https://doi.org/10.1007/978-3-030-66169-4_26
Publication status	Published - 2021
Event	11th Asian-Pacific Conference on Medical and Biological Engineering, APCMBE 2020 - Okayama, Japan Duration: 2020 May 25 → 2020 May 27

Publication series

Name	IFMBE Proceedings
Volume	82
ISSN (Print)	1680-0737
ISSN (Electronic)	1433-9277

Conference

Conference	11th Asian-Pacific Conference on Medical and Biological Engineering, APCMBE 2020
Country/Territory	Japan
City	Okayama
Period	20/5/25 → 20/5/27

Keywords

Nonlinear disturbance observer
Pneumatic muscle actuators
Sliding mode control
Three-element model

ASJC Scopus subject areas

Bioengineering
Biomedical Engineering

Access to Document

10.1007/978-3-030-66169-4_26

Cite this

Vu, T. N., Dao, Q. T., Tran, V. T., & Yamamoto, S. I. (2021). Sliding Mode Control Based on Nonlinear Disturbance Observer for Pneumatic Artificial Muscle. In Y. Shiraishi, I. Sakuma, K. Naruse, & A. Ueno (Eds.), 11th Asian-Pacific Conference on Medical and Biological Engineering - Proceedings of the Online Conference, APCMBE 2020 (pp. 202-214). (IFMBE Proceedings; Vol. 82). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-66169-4_26

Sliding Mode Control Based on Nonlinear Disturbance Observer for Pneumatic Artificial Muscle. / Vu, Thuy Nguyen; Dao, Quy Thinh; Tran, Van Thuc et al.

11th Asian-Pacific Conference on Medical and Biological Engineering - Proceedings of the Online Conference, APCMBE 2020. ed. / Yasuyuki Shiraishi; Ichiro Sakuma; Keiji Naruse; Akinori Ueno. Springer Science and Business Media Deutschland GmbH, 2021. p. 202-214 (IFMBE Proceedings; Vol. 82).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Vu, TN, Dao, QT, Tran, VT & Yamamoto, SI 2021, Sliding Mode Control Based on Nonlinear Disturbance Observer for Pneumatic Artificial Muscle. in Y Shiraishi, I Sakuma, K Naruse & A Ueno (eds), 11th Asian-Pacific Conference on Medical and Biological Engineering - Proceedings of the Online Conference, APCMBE 2020. IFMBE Proceedings, vol. 82, Springer Science and Business Media Deutschland GmbH, pp. 202-214, 11th Asian-Pacific Conference on Medical and Biological Engineering, APCMBE 2020, Okayama, Japan, 20/5/25. https://doi.org/10.1007/978-3-030-66169-4_26

Vu TN, Dao QT, Tran VT, Yamamoto SI. Sliding Mode Control Based on Nonlinear Disturbance Observer for Pneumatic Artificial Muscle. In Shiraishi Y, Sakuma I, Naruse K, Ueno A, editors, 11th Asian-Pacific Conference on Medical and Biological Engineering - Proceedings of the Online Conference, APCMBE 2020. Springer Science and Business Media Deutschland GmbH. 2021. p. 202-214. (IFMBE Proceedings). doi: 10.1007/978-3-030-66169-4_26

Vu, Thuy Nguyen ; Dao, Quy Thinh ; Tran, Van Thuc et al. / Sliding Mode Control Based on Nonlinear Disturbance Observer for Pneumatic Artificial Muscle. 11th Asian-Pacific Conference on Medical and Biological Engineering - Proceedings of the Online Conference, APCMBE 2020. editor / Yasuyuki Shiraishi ; Ichiro Sakuma ; Keiji Naruse ; Akinori Ueno. Springer Science and Business Media Deutschland GmbH, 2021. pp. 202-214 (IFMBE Proceedings).

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abstract = "Pneumatic artificial muscles (PAMs) have many advantages such as the natural compliant, lightweight, high ratio of weight to power, thus making them an ideal choice for humanoid robots using in the rehabilitation system. However, control strategies of PAMs are facing difficulties due to their high nonlinear characteristics, uncertainties and response lag. The three-element model [1], which consists of a contractile element, spring element and damping element in parallel, was investigated to describe the dynamics of PAMs. To improve the trajectory tracking performance of PAM, a sliding mode control based on nonlinear disturbance observer (SMCBNDO) was applied. The experimental results show that the identified three-elements model of PAM and the SMCBNDO can achieve good accuracy of trajectory tracking controller. This work proved that this model and non-linear control method can be used for the application of the PAM-based rehabilitation system.",

keywords = "Nonlinear disturbance observer, Pneumatic muscle actuators, Sliding mode control, Three-element model",

author = "Vu, {Thuy Nguyen} and Dao, {Quy Thinh} and Tran, {Van Thuc} and Yamamoto, {Shin ichiroh}",

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AU - Vu, Thuy Nguyen

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PY - 2021

Y1 - 2021

N2 - Pneumatic artificial muscles (PAMs) have many advantages such as the natural compliant, lightweight, high ratio of weight to power, thus making them an ideal choice for humanoid robots using in the rehabilitation system. However, control strategies of PAMs are facing difficulties due to their high nonlinear characteristics, uncertainties and response lag. The three-element model [1], which consists of a contractile element, spring element and damping element in parallel, was investigated to describe the dynamics of PAMs. To improve the trajectory tracking performance of PAM, a sliding mode control based on nonlinear disturbance observer (SMCBNDO) was applied. The experimental results show that the identified three-elements model of PAM and the SMCBNDO can achieve good accuracy of trajectory tracking controller. This work proved that this model and non-linear control method can be used for the application of the PAM-based rehabilitation system.

AB - Pneumatic artificial muscles (PAMs) have many advantages such as the natural compliant, lightweight, high ratio of weight to power, thus making them an ideal choice for humanoid robots using in the rehabilitation system. However, control strategies of PAMs are facing difficulties due to their high nonlinear characteristics, uncertainties and response lag. The three-element model [1], which consists of a contractile element, spring element and damping element in parallel, was investigated to describe the dynamics of PAMs. To improve the trajectory tracking performance of PAM, a sliding mode control based on nonlinear disturbance observer (SMCBNDO) was applied. The experimental results show that the identified three-elements model of PAM and the SMCBNDO can achieve good accuracy of trajectory tracking controller. This work proved that this model and non-linear control method can be used for the application of the PAM-based rehabilitation system.

KW - Nonlinear disturbance observer

KW - Pneumatic muscle actuators

KW - Sliding mode control

KW - Three-element model

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Sliding Mode Control Based on Nonlinear Disturbance Observer for Pneumatic Artificial Muscle

Abstract

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