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Improved fuzzy sliding mode control in flexible manipulator actuated by PMAs

Published online by Cambridge University Press:  22 April 2022

Fang Li ,
Zheng Zhang ,
Yang Wu ,
Yining Chen ,
Kai Liu Open the ORCID record for Kai Liu [Opens in a new window]  and
Jiafeng Yao
Fang Li
Affiliation:
Sanjiang University, No.10, Longxin Road, Yuhuatai District, Nanjing City, Nanjing 210016, China
Zheng Zhang
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street, Qin Huai District, Nanjing City, Nanjing 210016, China
Yang Wu
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street, Qin Huai District, Nanjing City, Nanjing 210016, China
Yining Chen
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street, Qin Huai District, Nanjing City, Nanjing 210016, China
Kai Liu*
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street, Qin Huai District, Nanjing City, Nanjing 210016, China
Jiafeng Yao
Affiliation:
Nanjing University of Aeronautics and Astronautics, No. 29, Yu Dao Street, Qin Huai District, Nanjing City, Nanjing 210016, China
*
*Corresponding author. E-mail: liukai@nuaa.edu.cn
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Abstract

Pneumatic muscle actuator (PMA) similar to biological muscle is a new type of pneumatic actuator. The flexible manipulator based on PMAs was constructed to simulate the actual movement of the human upper arm. Considering the model errors and external disturbances, the fuzzing sliding mode control based on the saturation function was proposed. Compared with other fuzzy control methods, fuzzy control and saturation function are used to adjust the robust terms to improve the tracking accuracy and reduce the high-frequency chattering.

Keywords

pneumatic muscle actuatorsliding mode controlfuzzy controlPI robust sliding mode controlprecise trajectory tracking control
Type
Research Article
Information
Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2683 - 2696
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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