This paper presents a sliding mode controller for a 2-DOF planar pneumatic manipulator actuated by pleated pneumatic articial muscle actuators. It is argued that it is necessary to account for the pressure dynamics of muscles and valves. A relatively detailed system model that includes pressure dynamics is established. Since the model includes actuator dynamics, feedback linearization was necessary to design a sliding mode controller. The feedback linearization and subsequent controller design are presented in detail, and the controller's performance is evaluated, both in simulation and experimentally. Chattering was found to be quite severe, so the introduction of signicant boundary layers was required.
|Tijdschrift||ASME Journal of Dynamic Systems, Measurement, and Control|
|Nummer van het tijdschrift||2|
|Status||Published - 15 mrt 2009|