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

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How to Cite

[1]
Dao, Q.-T., Dinh, V.V., Vu, C.T., Pham, T.Q. and Duong, D.M. 2023. An Adaptive Sliding Mode Controller for a PAM-based Actuator. Engineering, Technology & Applied Science Research. 13, 1 (Feb. 2023), 10086–10092. DOI:https://doi.org/10.48084/etasr.5539.

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

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