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

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル11th Asian-Pacific Conference on Medical and Biological Engineering - Proceedings of the Online Conference, APCMBE 2020
編集者Yasuyuki Shiraishi, Ichiro Sakuma, Keiji Naruse, Akinori Ueno
出版社Springer Science and Business Media Deutschland GmbH
ページ202-214
ページ数13
ISBN(印刷版)9783030661687
DOI
出版ステータスPublished - 2021
イベント11th Asian-Pacific Conference on Medical and Biological Engineering, APCMBE 2020 - Okayama, Japan
継続期間: 2020 5月 252020 5月 27

出版物シリーズ

名前IFMBE Proceedings
82
ISSN(印刷版)1680-0737
ISSN(電子版)1433-9277

Conference

Conference11th Asian-Pacific Conference on Medical and Biological Engineering, APCMBE 2020
国/地域Japan
CityOkayama
Period20/5/2520/5/27

ASJC Scopus subject areas

  • バイオエンジニアリング
  • 生体医工学

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