A robust controller for manipulator driven by artificial muscle actuator

Author

Cai, Dawei ; Yamaura, Hiroo

Author_Institution

Dept. of Inf. Eng., Shinshu Univ., Nagano, Japan

fYear

1996

fDate

15-18 Sep 1996

Firstpage

540

Lastpage

545

Abstract

A new sliding mode controller for manipulator derived by artificial muscle actuator is presented which guarantees asymptotic tracking of a desired trajectory. Based on the nonlinear characteristic of artificial muscle tube, a dynamic model of artificial muscle actuator is formed and exploited to derive a full dynamic model for manipulator system. By applying the sliding mode control technique and the presented full dynamic of manipulator, a robust tracking control approach is developed for such manipulator system. Some numerical case studies are provided to illustrate the performance of the control approach

Keywords

actuators; manipulators; nonlinear control systems; position control; robust control; tracking; variable structure systems; artificial muscle actuator; artificial muscle tube; asymptotic tracking; dynamic model; manipulator; nonlinear characteristic; robust controller; robust tracking control approach; sliding mode controller; Actuators; Differential equations; Error correction; Lyapunov method; Manipulator dynamics; Muscles; Nonlinear dynamical systems; Robust control; Sliding mode control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on

Conference_Location

Dearborn, MI

Print_ISBN

0-7803-2975-9

Type

conf

DOI

10.1109/CCA.1996.558917

Filename

558917