DocumentCode
2359129
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
fYear
2006
fDate
18-20 Dec. 2006
Firstpage
6
Lastpage
10
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICELIE.2006.347203
Filename
4152759
Link To Document