New approach of sliding mode control for nonlinear uncertain pneumatic artificial muscle manipulator enhanced with adaptive fuzzy estimator

International Journal of Advanced Robotic Systems

Ho Pham HuyAnh¹ 

关键词: Enhanced adaptive fuzzy sliding mode control;    pneumatic artificial muscle actuator;    two-link nonlinear uncertain serial PAM manipulator;    Lyapunov stability theorem;   

DOI  :  10.1177/1729881418773204

学科分类：自动化工程

来源: InTech

【 摘 要 】

A new enhanced adaptive fuzzy sliding mode control approach is proposed in this article with its good availability for application in control of a highly uncertain nonlinear two-link pneumatic artificial muscle manipulator. Stability demonstration of the robust convergence of the closed-loop pneumatic artificial muscle manipulator system based on a novel enhanced adaptive fuzzy sliding mode control is experimentally proved using Lyapunov stability theorem. Obtained result confirms that the new enhanced adaptive fuzzy sliding mode control method, applied to the two-link uncertain nonlinear pneumatic artificial muscle manipulator system, is fully investigated with better robustness and precision than the standard sliding mode control and fuzzy sliding mode control techniques.

【 授权许可】

CC BY