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Sliding mode control for a two-joint coupling nonlinear system based on extended state observer.

Ling Zhao1, Haiyan Cheng1, Tao Wang2

  • 1Hebei Province Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, The College of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China.

ISA Transactions
|January 15, 2018
PubMed
Summary
This summary is machine-generated.

This study introduces a controller for a two-joint system powered by pneumatic artificial muscles, effectively managing nonlinearities and disturbances for improved performance.

Keywords:
Coupling nonlinear systemsExtended state observer (ESO)Pneumatic artificial muscle (PAM)Sliding mode control (SMC)

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Area of Science:

  • Robotics and Control Systems
  • Mechanical Engineering
  • Artificial Muscle Actuation

Background:

  • Pneumatic artificial muscles (PAMs) offer unique advantages for robotic systems due to their inherent compliance and high power-to-weight ratio.
  • Coupled nonlinear systems present significant control challenges, particularly when subject to external disturbances.
  • Existing control strategies often struggle to adequately address the complex dynamics and uncertainties in such systems.

Purpose of the Study:

  • To develop and validate a robust control strategy for a two-joint coupling nonlinear system actuated by PAMs.
  • To address the inherent nonlinearities and external disturbances affecting the system's performance.
  • To demonstrate the effectiveness of the proposed control approach through experimental validation.

Main Methods:

  • Introduction of a two-joint coupling nonlinear system model driven by PAMs.
  • Proposal of a sliding mode controller (SMC) integrated with an extended state observer (ESO).
  • Theoretical analysis including convergence of the ESO and stability analysis of the closed-loop system under SMC.

Main Results:

  • The proposed SMC with ESO effectively compensates for system nonlinearities and external disturbances.
  • The ESO demonstrates guaranteed convergence, accurately estimating the system's states and disturbances.
  • Stability analysis confirms the robustness and reliability of the closed-loop control system.
  • Experimental results validate the practical effectiveness and superior performance of the proposed control method.

Conclusions:

  • The developed sliding mode controller with an extended state observer provides a robust and effective solution for controlling nonlinear two-joint systems actuated by pneumatic artificial muscles.
  • The controller's ability to handle uncertainties and disturbances, as proven by theoretical analysis and experimental validation, makes it suitable for real-world applications.
  • This research contributes to the advancement of control strategies for complex robotic systems utilizing soft actuation technologies.