Title :
Derivative control in sliding mode of a robot driven by artificial muscles
Author :
Chettouh, Mourad ; Toumi, Redouane ; Hamerlain, Mustapha
Author_Institution :
Univ. Saad Dahleb, Blida
Abstract :
This paper shows a robust control of a robot arm actuated by pneumatic artificial antagonistic muscles. The goal is chatter reduction. In this work the control problem is considered using a generalised variable structure algorithm which is similar to a 2-sliding mode control applied on a system of relative degree one with respect to the sliding constraint. The paper purpose is an experimental study where the control performances are discussed
Keywords :
robots; robust control; variable structure systems; chatter reduction; derivative control; pneumatic artificial antagonistic muscles; robot arm; robust control; sliding mode control; variable structure algorithm; Actuators; Bladder; Control systems; Muscles; Orthopedic surgery; Robots; Robust control; Rubber; Sliding mode control; Variable structure systems;
Conference_Titel :
E-Learning in Industrial Electronics, 2006 1ST IEEE International Conference on
Conference_Location :
Hammamet
Print_ISBN :
1-4244-0324-3
Electronic_ISBN :
1-4244-0324-3
DOI :
10.1109/ICELIE.2006.347203
