Please use this identifier to cite or link to this item:
http://hdl.handle.net/11375/30138
Title: | Sliding mode control of a pneumatic muscle actuator system with a PWM strategy |
Authors: | Jouppila VT Gadsden SA Bone GM Ellman AU Habibi SR |
Department: | Mechanical Engineering |
Keywords: | 4007 Control Engineering, Mechatronics and Robotics;40 Engineering;4010 Engineering Practice and Education |
Publication Date: | 2-Jan-2014 |
Publisher: | River Publishers |
Abstract: | In this paper, a sliding mode control (SMC) strategy is applied to a pulse width modulation (PWM)-driven pneumatic muscle actuator system using high speed on/off solenoid valves. Servo-pneumatic systems with PWM-driven on/off valves can be used instead of expensive servo valves to decrease complexity, weight, and cost of servo-pneumatic systems. Due to the highly nonlinear nature of pneumatics, the system is difficult to model accurately which leads to unmodelled dynamics and uncertainties. In this paper, a robust and nonlinear SMC approach is implemented in order to control the system with sufficient accuracy. A nonlinear model is developed in a single-input single-output form by studying the flow, pressure, and force dynamics of the system. The SMC strategy is applied to three different system configurations: single on/off valve, two on/off valves, and a servo valve. The performance and effectiveness of these configurations are investigated under sinusoidal tracking at different frequencies. The robustness of the controllers is studied by varying the inertia of the system and by applying external disturbances to the system. © 2014 Taylor & Francis. |
metadata.dc.rights.license: | Attribution-NonCommercial-NoDerivs - CC BY-NC-ND |
URI: | http://hdl.handle.net/11375/30138 |
metadata.dc.identifier.doi: | https://doi.org/10.1080/14399776.2014.893707 |
ISSN: | 1439-9776 2332-1180 |
Appears in Collections: | Mechanical Engineering Publications |
Files in This Item:
File | Description | Size | Format | |
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009-2014 Sliding mode control of a pneumatic muscle actuato [retrieved_2023-11-05].pdf | 756.25 kB | Adobe PDF | View/Open |
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