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 proceedingConference contribution

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 languageEnglish
Title of host publication11th Asian-Pacific Conference on Medical and Biological Engineering - Proceedings of the Online Conference, APCMBE 2020
EditorsYasuyuki Shiraishi, Ichiro Sakuma, Keiji Naruse, Akinori Ueno
PublisherSpringer Science and Business Media Deutschland GmbH
Pages202-214
Number of pages13
ISBN (Print)9783030661687
DOIs
Publication statusPublished - 2021
Event11th Asian-Pacific Conference on Medical and Biological Engineering, APCMBE 2020 - Okayama, Japan
Duration: 2020 May 252020 May 27

Publication series

NameIFMBE Proceedings
Volume82
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277

Conference

Conference11th Asian-Pacific Conference on Medical and Biological Engineering, APCMBE 2020
Country/TerritoryJapan
CityOkayama
Period20/5/2520/5/27

Keywords

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

ASJC Scopus subject areas

  • Bioengineering
  • Biomedical Engineering

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