Title :
Accurate positioning of pneumatic artificial muscle at different temperatures using LabVIEW based sliding mode controller
Author_Institution :
Fac. of Eng., Univ. of Szeged, Szeged, Hungary
Abstract :
Pneumatic artificial muscles (PAMs) are difficult to control because of their highly nonlinear and time varying nature, thus robust control method is needed. Sliding mode control can be favourably used for accurate positioning of PAMs. In this paper the error of sliding mode control based positioning of a Fluidic Muscle at different temperatures is determined. The controller is developed in LabVIEW and the error of the experiments shows 0.01 mm.
Keywords :
electroactive polymer actuators; fluidic devices; nonlinear control systems; position control; robust control; time-varying systems; variable structure systems; virtual instrumentation; LabVIEW based sliding mode controller; PAM; controller development; fluidic muscle; nonlinear control; pneumatic artificial muscle; robust control method; sliding mode control based positioning; time-varying system; Actuators; Computational modeling; Muscles; Sliding mode control; Temperature control; Temperature measurement; Valves;
Conference_Titel :
Applied Computational Intelligence and Informatics (SACI), 2014 IEEE 9th International Symposium on
Conference_Location :
Timisoara
DOI :
10.1109/SACI.2014.6840040
