TY - GEN
T1 - Sliding Mode Control Based on Nonlinear Disturbance Observer for Pneumatic Artificial Muscle
AU - Vu, Thuy Nguyen
AU - Dao, Quy Thinh
AU - Tran, Van Thuc
AU - Yamamoto, Shin ichiroh
N1 - Publisher Copyright:
© 2021, Springer Nature Switzerland AG.
PY - 2021
Y1 - 2021
N2 - Pneumatic artificial muscles (PAMs) have many advantages such as the natural compliant, lightweight, high ratio of weight to power, thus making them an ideal choice for humanoid robots using in the rehabilitation system. However, control strategies of PAMs are facing difficulties due to their high nonlinear characteristics, uncertainties and response lag. The three-element model [1], which consists of a contractile element, spring element and damping element in parallel, was investigated to describe the dynamics of PAMs. To improve the trajectory tracking performance of PAM, a sliding mode control based on nonlinear disturbance observer (SMCBNDO) was applied. The experimental results show that the identified three-elements model of PAM and the SMCBNDO can achieve good accuracy of trajectory tracking controller. This work proved that this model and non-linear control method can be used for the application of the PAM-based rehabilitation system.
AB - Pneumatic artificial muscles (PAMs) have many advantages such as the natural compliant, lightweight, high ratio of weight to power, thus making them an ideal choice for humanoid robots using in the rehabilitation system. However, control strategies of PAMs are facing difficulties due to their high nonlinear characteristics, uncertainties and response lag. The three-element model [1], which consists of a contractile element, spring element and damping element in parallel, was investigated to describe the dynamics of PAMs. To improve the trajectory tracking performance of PAM, a sliding mode control based on nonlinear disturbance observer (SMCBNDO) was applied. The experimental results show that the identified three-elements model of PAM and the SMCBNDO can achieve good accuracy of trajectory tracking controller. This work proved that this model and non-linear control method can be used for the application of the PAM-based rehabilitation system.
KW - Nonlinear disturbance observer
KW - Pneumatic muscle actuators
KW - Sliding mode control
KW - Three-element model
UR - http://www.scopus.com/inward/record.url?scp=85104874033&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85104874033&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-66169-4_26
DO - 10.1007/978-3-030-66169-4_26
M3 - Conference contribution
AN - SCOPUS:85104874033
SN - 9783030661687
T3 - IFMBE Proceedings
SP - 202
EP - 214
BT - 11th Asian-Pacific Conference on Medical and Biological Engineering - Proceedings of the Online Conference, APCMBE 2020
A2 - Shiraishi, Yasuyuki
A2 - Sakuma, Ichiro
A2 - Naruse, Keiji
A2 - Ueno, Akinori
PB - Springer Science and Business Media Deutschland GmbH
T2 - 11th Asian-Pacific Conference on Medical and Biological Engineering, APCMBE 2020
Y2 - 25 May 2020 through 27 May 2020
ER -