A Sliding Mode Controller for Manipulator Driven by Artificial Muscle Actuator

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概要

• 論文の詳細を見る

• A new sliding mode controller for manipulator driven by artificial muscle actuator is present, which guarantees an asymptotic tracking of a desired trajectory. Based on the non-linear model for the robot driven by artificial muscle tube, a new translation matrix called auxiliary control matrix is presented, and a new form dynamic model for designing sliding mode controller is derived. By applying the sliding mode control technique and the new form dynamic model of manipulator, a new robust tracking control approach is developed for such manipulator system. The controller consists of a feedforward control part and a novel sliding mode control part, so that the tracking error of the closed-loop system, which is composed by the robust controller, will converge to zero. The asymptotic stability of the closed-loop tracking system is proven by means of the Lyapunov method, and it is also guaranteed that the control input is bounded. Some numerical case studies are provided to illustrate the performance of the control approach.

• 社団法人電子情報通信学会の論文
• 2002-03-01

著者

• DAI Ying

  Faculty of software and information science, Iwate Pref. University

• CAI Dawei

  Faculty of Software and Information, Iwate Prefectural University

• Dai Ying

  Faculty Of Software And Computer Science Iwate Prefectural University

• Cai Dawei

  Faculty Of Software And Computer Science Iwate Prefectural University

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• A Sliding Mode Controller for Manipulator Driven by Artificial Muscle Actuator

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