A sliding mode controller for manipulator driven by artificial muscle actuator

Author

Cai, Dawei ; Dai, Ying

Author_Institution

Dept. of Software & Comput. Sci., Iwate Prefectural Univ., Japan

fYear

2000

fDate

2000

Firstpage

668

Lastpage

673

Abstract

A sliding mode controller for a manipulator driven by an artificial muscle actuator is presented which guarantees asymptotic tracking of a desired trajectory. Based on the nonlinear characteristic of the artificial muscle tube, a dynamic model of the artificial muscle actuator is formed and exploited to derive a full dynamic model for the manipulator system. By applying the sliding mode control technique and the presented full dynamic of the manipulator, a robust tracking control approach is developed for such a manipulator system. The controller consists of a feedforward control part and a sliding mode control part. Asymptotic stability of the closed-loop tracking error system is proven by means of the Lyapunov method. Some numerical case studies are provided to illustrate the performance of the control approach

Keywords

Lyapunov methods; actuators; asymptotic stability; closed loop systems; feedforward; manipulator dynamics; position control; robust control; variable structure systems; artificial muscle actuator; asymptotic tracking; closed-loop tracking error system; dynamic model; feedforward control; full dynamic model; nonlinear characteristic; robust tracking control approach; sliding mode controller; Actuators; Asymptotic stability; Control systems; Lyapunov method; Manipulator dynamics; Muscles; Nonlinear dynamical systems; Robust control; Sliding mode control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on

Conference_Location

Anchorage, AK

Print_ISBN

0-7803-6562-3

Type

conf

DOI

10.1109/CCA.2000.897507

Filename

897507