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A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups
John H Lilly1, Peter M Quesada
1Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY 40292, USA.
Summary
This study applies sliding-mode control to a planar arm with pneumatic muscle actuators for precise end-effector path tracking. Simulations demonstrate the effectiveness of this control strategy for robotic manipulators.
Area of Science:
- Robotics
- Control Systems
- Mechanical Engineering
Background:
- Pneumatic muscle actuators (PMAs) offer unique advantages for robotic systems.
- Controlling complex robotic arms, especially those with nonlinear dynamics, presents significant challenges.
Purpose of the Study:
- To develop and evaluate a sliding-mode control strategy for a planar arm actuated by PMAs.
- To achieve accurate end-effector path tracking in Cartesian space.
Main Methods:
- Developed a two-input, two-output nonlinear model of the planar arm, incorporating a PMA model.
- Applied multiple-input sliding-mode control techniques to the derived arm model.
- Investigated static input pressure relationships for inherent arm stability.
Main Results:
- The nonlinear arm model was found to be affine in the input, suitable for sliding-mode control.
- Simulation studies were conducted to assess the control system's performance.
- Derived relationships for static input pressures to ensure desired arm behavior.
Conclusions:
- Sliding-mode control is a viable technique for controlling planar arms with PMAs.
- The proposed control approach facilitates precise end-effector path tracking.
- Further research could involve experimental validation and more complex arm configurations.