Classical and generalized variable structure control of a manipulator arm with pneumatic artificial muscles

Author

Lamia, Matoug ; Mustapha, Hamerlain

Author_Institution

Autom. & Robot., CDT, Algiers, Algeria

fYear

2013

fDate

6-8 May 2013

Firstpage

579

Lastpage

584

Abstract

This paper presents the implementation of Classical Variable Structure (CVS) control of a manipulator arm actuated by Pneumatic Artificial Muscle (PAM). The choice of this control technique is based on its reputation for robustness towards modeling errors, parametric uncertainties and external disturbances. However, chattering is the major disadvantage of sliding mode. To reduce it, number of solutions exist, in this paper is presented Generalized Variable Structure (GVS) control. Simulation and implementation results are presented and discussed.

Keywords

electroactive polymer actuators; manipulators; pneumatic actuators; variable structure systems; CVS control; GVS control; PAM; classical variable structure control; generalized variable structure control; manipulator arm; pneumatic artificial muscles; sliding mode; Actuators; Manipulators; Mathematical model; Muscles; Oscillators; Robustness; Classical variable system; generalized variable structure; parametric identification; pneumatic artificial muscle; robust control; sliding mode;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Decision and Information Technologies (CoDIT), 2013 International Conference on

Conference_Location

Hammamet

Print_ISBN

978-1-4673-5547-6

Type

conf

DOI

10.1109/CoDIT.2013.6689608

Filename

6689608