An Adaptive Sliding Mode Controller for a PAM-based Actuator

Authors

  • Quy-Thinh Dao School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Vietnam
  • Vuong Van Dinh Hanoi University of Science and Technology, Vietnam | Hanoi Vocational College of High Technology, Vietnam
  • Chien Tuan Vu Hanoi University of Science and Technology, Vietnam
  • Thuyet Quang Pham Hanoi University of Science and Technology, Vietnam
  • Duc Minh Duong Hanoi University of Science and Technology, Vietnam
Volume: 13 | Issue: 1 | Pages: 10086-10092 | February 2023 | https://doi.org/10.48084/etasr.5539

Received: 5 December 2022 | Revised: 20 December 2022 | Accepted: 23 December 2022 | Online: 5 February 2023


Corresponding author: Duc Minh Duong

Abstract

The Pneumatic Artificial Muscle (PAM) is a promising actuator for developing the human-robot interaction system. However, modeling and controlling PAM-based actuators are a significant difficulty due to the inherent uncertainty and hysteresis of PAM. Besides, the control approach of a PAM-based system also deals with unknown disturbances that always exist in any system. This study developed a sliding mode controller that employs an adaptive law to deal with issues and improve control performance. Furthermore, the stability of the proposed controller is proven based on the Lyapunov stability criterion. Finally, through a series of tests, the effectiveness of the proposed control approach is verified.

Keywords:

sliding mode control, adaptive law, antagonistic configuration, pneumatic artificial muscle

Downloads

Download data is not yet available.

References

F. Daerden and D. Lefeber, "Pneumatic artificial muscles: Actuators for robotics and automation," European Journal of Mechanical and Environmental Engineering, vol. 47, no. 1, pp. 11–21, 2002.

C.-P. Chou and B. Hannaford, "Measurement and modeling of McKibben pneumatic artificial muscles," IEEE Transactions on Robotics and Automation, vol. 12, no. 1, pp. 90–102, Oct. 1996. DOI: https://doi.org/10.1109/70.481753

M. Sekine, K. Shiota, K. Kita, A. Namiki, and W. Yu, "A lightweight shoulder prosthesis with antagonistic impact-absorbing hybrid actuation for bimanual activities of daily living," Advances in Mechanical Engineering, vol. 8, no. 4, pp. 1–17, Apr. 2016. DOI: https://doi.org/10.1177/1687814016645982

K. K. Aun and H. P. H. Anh, "System Modeling Identification and Control of the Two-Link Pneumatic Artificial Muscle Manipulator Optimized with Genetic Algorithms," in IEEE International Conference on Control and Automation, Guangzhou, China, Jun. 2007, pp. 501–506. DOI: https://doi.org/10.1109/ICCA.2007.4376407

C.-J. Chiang and Y.-C. Chen, "Neural network fuzzy sliding mode control of pneumatic muscle actuators," Engineering Applications of Artificial Intelligence, vol. 65, pp. 68–86, Oct. 2017. DOI: https://doi.org/10.1016/j.engappai.2017.06.021

I. D. Walker, "Continuous Backbone ‘Continuum’ Robot Manipulators," International Scholarly Research Notices, vol. 2013, Jul. 2013, Art. no. e726506. DOI: https://doi.org/10.5402/2013/726506

T.-Y. Choi and J.-J. Lee, "Control of Manipulator Using Pneumatic Muscles for Enhanced Safety," IEEE Transactions on Industrial Electronics, vol. 57, no. 8, pp. 2815–2825, Dec. 2010. DOI: https://doi.org/10.1109/TIE.2009.2036632

G. Kim, S. Kang, H. Cho, J. Ryu, M. Mun, and K. Kim, "Modeling and simulation of powered hip orthosis by pneumatic actuators," International Journal of Control, Automation and Systems, vol. 8, no. 1, pp. 59–66, Feb. 2010. DOI: https://doi.org/10.1007/s12555-010-0108-9

G. S. Sawicki and D. P. Ferris, "A pneumatically powered knee-ankle-foot orthosis (KAFO) with myoelectric activation and inhibition," Journal of NeuroEngineering and Rehabilitation, vol. 6, no. 1, Jun. 2009, Art. no. 23. DOI: https://doi.org/10.1186/1743-0003-6-23

S. Z. Ying, N. K. Al-Shammari, A. A. Faudzi, and Y. Sabzehmeidani, "Continuous Progressive Actuator Robot for Hand Rehabilitation," Engineering, Technology & Applied Science Research, vol. 10, no. 1, pp. 5276–5280, Feb. 2020. DOI: https://doi.org/10.48084/etasr.3212

P. Beyl et al., "Safe and Compliant Guidance by a Powered Knee Exoskeleton for Robot-Assisted Rehabilitation of Gait," Advanced Robotics, vol. 25, no. 5, pp. 513–535, Jan. 2011. DOI: https://doi.org/10.1163/016918611X558225

S. Hussain, S. Q. Xie, and P. K. Jamwal, "Control of a robotic orthosis for gait rehabilitation," Robotics and Autonomous Systems, vol. 61, no. 9, pp. 911–919, Sep. 2013. DOI: https://doi.org/10.1016/j.robot.2013.01.007

D. Kim, Y.-P. Hong, and K.-S. Kim, "Bipedal Walking and Impact Reduction Algorithm for a Robot with Pneumatically Driven Knees," International Journal of Control, Automation and Systems, vol. 19, no. 12, pp. 3937–3946, Dec. 2021. DOI: https://doi.org/10.1007/s12555-020-0613-4

G. Andrikopoulos, G. Nikolakopoulos, and S. Manesis, "Non-linear control of Pneumatic Artificial Muscles," in 21st Mediterranean Conference on Control and Automation, Platanias, Greece, Jun. 2013, pp. 729–734. DOI: https://doi.org/10.1109/MED.2013.6608804

K. K. Ahn and T. D. C. Thanh, "Nonlinear PID control to improve the control performance of the pneumatic artificial muscle manipulator using neural network," Journal of Mechanical Science and Technology, vol. 19, no. 1, pp. 106–115, Jan. 2005. DOI: https://doi.org/10.1007/BF02916109

D. Zhang, X. Zhao, and J. Han, "Active Model-Based Control for Pneumatic Artificial Muscle," IEEE Transactions on Industrial Electronics, vol. 64, no. 2, pp. 1686–1695, Oct. 2017. DOI: https://doi.org/10.1109/TIE.2016.2606080

Q.-T. Dao, D.-H. Mai, D.-K. Nguyen, and N.-T. Ly, "Adaptive Parameter Integral Sliding Mode Control of Pneumatic Artificial Muscles in Antagonistic Configuration," Journal of Control, Automation and Electrical Systems, vol. 33, no. 4, pp. 1116–1124, Aug. 2022. DOI: https://doi.org/10.1007/s40313-022-00902-5

T. Nuchkrua and T. Leephakpreeda, "Fuzzy Self-Tuning PID Control of Hydrogen-Driven Pneumatic Artificial Muscle Actuator," Journal of Bionic Engineering, vol. 10, no. 3, pp. 329–340, Sep. 2013. DOI: https://doi.org/10.1016/S1672-6529(13)60228-0

H. Wang and J. Lu, "Research on Fractional Order Fuzzy PID Control of the Pneumatic-hydraulic Upper Limb Rehabilitation Training System Based on PSO," International Journal of Control, Automation and Systems, vol. 20, no. 1, pp. 310–320, Jan. 2022. DOI: https://doi.org/10.1007/s12555-020-0847-1

A. Rezoug, F. Hamerlain, and M. Hamerlain, "Application of Fuzzy Sliding Mode to control of Manipulator Robot actuated by Pneumatic artificial Muscles," IFAC Proceedings Volumes, vol. 42, no. 19, pp. 580–585, Jan. 2009. DOI: https://doi.org/10.3182/20090921-3-TR-3005.00099

Z. Nadjat, B. Behih, Z. Bouchama, and K. Zehar, "Robust Adaptive Fuzzy Control of Nonlinear Systems," Engineering, Technology & Applied Science Research, vol. 12, pp. 8328–8334, Apr. 2022. DOI: https://doi.org/10.48084/etasr.4781

S. Tian, G. Ding, D. Yan, L. Lin, and M. Shi, "Nonlinear Controlling of Artificial Muscle System with Neural Networks," in IEEE International Conference on Robotics and Biomimetics, Shenyang, China, Aug. 2004, pp. 56–59.

K. Xing, J. Huang, Y. Wang, J. Wu, Q. Xu, and J. He, "Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer," IET Control Theory & Applications, vol. 4, no. 10, pp. 2058–2070, Oct. 2010. DOI: https://doi.org/10.1049/iet-cta.2009.0555

J. H. Lilly and P. M. Quesada, "A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 12, no. 3, pp. 349–359, Sep. 2004. DOI: https://doi.org/10.1109/TNSRE.2004.831490

D. M. Duc, T. X. Tuy, and P. D. Phuoc, "A Study on the Response of the Rehabilitation Lower Device using Sliding Mode Controller," Engineering, Technology & Applied Science Research, vol. 11, no. 4, pp. 7446–7451, Aug. 2021. DOI: https://doi.org/10.48084/etasr.4312

W. M. Bessa and R. S. S. Barreto, "Adaptive fuzzy sliding mode control of uncertain nonlinear systems," Sba: Controle & Automação Sociedade Brasileira de Automatica, vol. 21, pp. 117–126, Apr. 2010. DOI: https://doi.org/10.1590/S0103-17592010000200002

C. P. Vo, X. D. To, and K. K. Ahn, "A Novel Adaptive Gain Integral Terminal Sliding Mode Control Scheme of a Pneumatic Artificial Muscle System With Time-Delay Estimation," IEEE Access, vol. 7, pp. 141133–141143, 2019. DOI: https://doi.org/10.1109/ACCESS.2019.2944197

Downloads

How to Cite

[1]
Q.-T. Dao, V. V. Dinh, C. T. Vu, T. Q. Pham, and D. M. Duong, “An Adaptive Sliding Mode Controller for a PAM-based Actuator”, Eng. Technol. Appl. Sci. Res., vol. 13, no. 1, pp. 10086–10092, Feb. 2023.

Metrics

Abstract Views: 466
PDF Downloads: 366

Metrics Information

License

Copyright (c) 2022 Quy-Thinh Dao, Vuong Van Dinh, Chien Tuan Vu, Thuyet Quang Pham, Duc Minh Duong

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

Authors who publish with this journal agree to the following terms:

- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.

- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.

- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.

Crossref
Scopus
Google Scholar
Europe PMC