Adaptive fuzzy sliding mode control of an actuator powered by two opposing pneumatic artificial muscles

Minh Duc Duong, Quang Thuyet Pham, Tuan Chien Vu, Ngoc Tam Bui, Quy Thinh Dao

研究成果: Article査読

3 被引用数 (Scopus)

抄録

Pneumatic artificial muscle (PAM) is a potential actuator in human–robot interaction systems, especially rehabilitation systems. However, PAM is a nonlinear actuator with uncertainty and a considerable delay in characteristics, making control challenging. This study presents a discrete-time sliding mode control approach combined with the adaptive fuzzy algorithm (AFSMC) to deal with the unknown disturbance of the PAM-based actuator. The developed fuzzy logic system has parameter vectors of the component rules that are automatically updated by an adaptive law. Consequently, the developed fuzzy logic system can reasonably approximate the system disturbance. When operating the PAM-based system in multi-scenario studies, experimental results confirm the efficiency of the proposed strategy.

本文言語English
論文番号8242
ジャーナルScientific Reports
13
1
DOI
出版ステータスPublished - 2023 12月

ASJC Scopus subject areas

  • 一般

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