High-order sliding modes for a robot driven by pneumatic artificial rubber muscles

Advanced Robotics

Volumn 22, Issue 6, 2008, Pages 689-704

  Chettouh, Mourad ^a   Toumi, Redouane ^b   Hamerlain, Mustapha ^c  

^a UNIVERSITY OF BLIDA   (Algeria)

^b UNIVERSITY OF SCIENCES AND TECHNOLOGY HOUARI BOUMEDIENE   (Algeria)

^c CENTRE DE DÉVELOPPEMENT DES TECHNOLOGIES AVANCÉES   (Algeria)

Author keywords

Artificial muscles; HOSM; PARMS; Sliding mode control; Variable structure systems

Indexed keywords

ARTIFICIAL ORGANS; MUSCLE; PNEUMATICS; ROBOTS; RUBBER;

ARTIFICIAL MUSCLE; CONTROL TECHNIQUES; HIGH ORDER SLIDING MODE; HOSM; PARMS; PNEUMATIC ARTIFICIAL RUBBER MUSCLE; SECOND ORDER SLIDING; VARIABLE STRUCTURE SYSTEM;

SLIDING MODE CONTROL;

EID: 46249100704     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/156855308X305272     Document Type: Article

References (30)

1. B. Verrelst, A dynamic walking biped actuated by pleated pneumatic artificial muscles: Basic concepts and control issues, PhD Thesis, Vrije Universiteit, Brussels (2005).
2. C. P. Chou and B. Hannaford, Static and dynamic characteristics of McKibben pneumatic artificial muscles, in: Proc. Int. Conf. on Robotics and Automation, San Diego, CA, pp. 281-286 (1994).
3. C. P. Chou and B. Hannaford, Measurement and modeling of McKibben pneumatic artificial muscles, IEEE Trans. Robotics Automat. 12, 90-102 (1996).
4. N. Tsagarakis and D. G. Caldwell, Improved modeling and assessement of pneumatic muscle actuators, in: Proc. IEEE Conf. on Robotics and Automation, San Francisco, CA, pp. 3641-3646 (2000).
5. N. Yee and G. Coghill, Modelling of a novel rotary pneumatic muscle, in: Proc. 2002 Australasian Conf. on Robotics and Automation, Auckland, pp. 186-190 (2002).
6. B. Tondu and P. Lopez, Modeling and control of McKibben artificial muscle robot actuators, IEEE Control Syst. Mag. April, 15-38 (2000).
7. N. Nakamura et al., Developing a robot arm using pneumatic artificial rubber muscles, in: Power Transmission and Motion Control, C. R. Burrows and K. A. Edge. Professional Engineering Publishing, Bath (2002).
8. T. Nagaoka, Y. Konishi and H. Ishigaki, Non linear optimal predictive control of rubber artificial muscle, Proc. SPIE, Int. Soc. Opt. Eng. 2595, 54-61 (1995).
9. G. A. Medrano-Cerda, C. J. Bowler and D. G. Caldwell, Adaptive position control of antagonistic pneumatic muscle actuators, in: Proc. Int. Conf. on Intelligent Robots and Systems, Pittsburgh, PA, pp. 378-383 (1995).
10. J. Lilly, Adaptive tracking for pneumatic muscle actuators in bicep and tricep configuration, IEEE Trans. Neural Syst. Rehabil. Eng. 11, 333-339 (2003).
11. P. Carbonell, Z. P. Jiang and D. W. Repperger, A fuzzy backstepping controller for a pneumatic muscle actuator system, in: Proc. IEEE int. Symp. on Intelligent Control, Mexico City, pp. 353-358 (2001).
12. S. W. Chan, J. Lilly, D. W. Repperger and J. E. Berlin, Fuzzy PD + I learning control for a pneumatic muscle, in: Proc. IEEE Int. Conf. on Fuzzy Systems, St Louis, MO, pp. 278-283 (2003).
13. M. Hamerlain, Anthropomorphic robot arm driven by artificial muscles using a variable structure control, in: Proc. IEEE Int. Conf. on Intelligent Robots Systems, Pittsburgh, PA, pp. 550-555 (1995).
14. D. W. Repperger, K. R. Johnson and C. A. Phillips, VSC position tracking system involving a large scale pneumatic muscle actuator, in: Proc. IEEE Conf. on Decision Control, Tampa, FL, pp. 4302-4307 (1998).
15. P. Carbonell et al., Non linear control of a pneumatic muscle actuator: backstepping vs sliding mode, in: Proc. IEEE Int. Conf. on Control Applications, Mexico, pp. 167-172 (2001).
16. D. Cai and Y. Dai, A sliding mode controller for manipulator driven by artificial muscle actuator, in: Proc. IEEE Int. Conf. on Control Applications, Anchorage, AK, pp. 668-673 (2000).
17. J. H. Lilly and L. Yang, Sliding mode tracking for pneumatic muscle actuators in opposing pair configuration, IEEE Trans. Control Syst. Technol. 13, 550-558 (2005).
18. P. Pomiers, Modular robot arm based on pneumatic artificial rubber muscles (PARM), in: Proc. CLAWAR, Catania, pp. 879-886 (2003).
19. V. I. Utkin, Sliding Mode in Control and Optimization. Springer, Berlin (1992).
20. F. Harashima, H. Hashimoto and K. Maruyama, Practical robust control of robot arm using variable structure systems, in: Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, pp. 532-538 (1986).
21. H. Asada and J. J. E. Slotine, Robot Analysis and Control. Wiley, New York (1986).
22. V. I. Utkin, Discontinuous control systems: state of art in theory and application, Proc. IFAC 1, 75-94 (1987).
23. M. Hamerlain, B. Tondu, Ch. Mira and P. Lopez, Variable structure model reference control for an actuator with artificial antagonistic muscles, in: Proc. VARSCON, Reno, NV, pp. 73-79 (1991).
24. M. Hamerlain et al., Switching on the derivative of the control to reduce chatter, IEE Proc. Control Theory Appl. 148, 88-96 (2001).
25. T. V. M. Nguyen, Q. P. Ha and H. T. Nguyen, A chattering free variable structure controller for tracking of robotic manipulators, in: Proc. Australasian Conf. on Robotics and Automation, Brisbane, pp. 1-6 (2003).
26. M. Chettouh, R. Toumi and M. Hamerlain, Chatter reduction in an artificial muscles robot application, Int. J. Robotics Automat., in press.
27. A. Levant, Sliding order and sliding accuracy in sliding mode control, Int. J. Control 58, 1247-1263 (1993).
28. S. V. Emelyanov, S. K. Korovin and A. Levant, Higher-order sliding modes in control systems, Differential Equations 29, 1627-1647 (1993).
29. G. Bartolini, A. Ferrara and E. Usai, Chattering avoidance by second order sliding mode control, IEEE Trans. Automat. Control 43, 241-246 (1998).
30. T. Floquet, Contributions à la commande par modes glissants d'ordre superieur, These de Doctorat, Université des Sciences et Technologies de Lille, Lille (2000).