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precise trajectory tracking control

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Improved fuzzy sliding mode control in flexible manipulator actuated by PMAs
Fang Li, Zheng Zhang, Yang Wu, Yining Chen, Kai Liu, Jiafeng Yao
Journal:

Robotica / Volume 40 / Issue 8 / August 2022

Published online by Cambridge University Press:

22 April 2022, pp. 2683-2696
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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.