Practical equivalent control in 2-sliding controls applied to an anthropomorphic robot arm

Author

Braikia, Karim ; Acco, Pascal ; Tondu, Bertrand ; Chettouh, Mourad

Author_Institution

Dept. of Electr. Eng., & Comput. Sci., INSA Toulouse, Toulouse, France

fYear

2010

fDate

6-9 July 2010

Firstpage

1245

Lastpage

1251

Abstract

Driving an anthropomorphic robot arm driven by pneumatic artificial rubber muscles (PARMs) with a direct transmission is quite delicate. PARMs present complex nonlin-earities and robust control tools are unevitable. Among them, those applied are the twisting and super twisting algorithms, which belong to the 2-higher order sliding mode control set. In this paper it is studied the effect of the equivalent control in sliding mode controller based on variable structure systems (VSS) theory. It will be shown when to use the equivalent control, and the effects of a noisy sensor signal on control performance. Experimental results are presented and discussed.

Keywords

control nonlinearities; manipulators; pneumatic systems; robust control; variable structure systems; 2-higher order sliding mode control set; anthropomorphic robot arm; complex nonlinearities; noisy sensor signal; pneumatic artificial rubber muscles; practical equivalent control; robust control tool; super twisting algorithm; variable structure system theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on

Conference_Location

Montreal, ON

Print_ISBN

978-1-4244-8031-9

Type

conf

DOI

10.1109/AIM.2010.5695740

Filename

5695740