Discrete-time sliding mode control with power rate exponential reaching law of a pneumatic artificial muscle system
Quy-Thinh Dao
Trung-Kien Le Tri
Van-Anh Nguyen
Manh-Linh Nguyen
School of Electrical and Electronic Engineering,Hanoi University of Science and Technology,Dai Co Viet,Hanoi 11615,Vietnam
摘要：This paper develops a discrete-time sliding mode controller with a power rate exponential reaching law approach to enhance the performance of a pneumatic artificial muscle system in both reaching time and chattering reduction.The proposed method dynamically adapts to the variation of the switching function,which is based on an exponential term and a power rate term of the sliding surface.Thus,the controlled system can achieve high tracking performance while still obtain chattering-free control.Moreover,the effectiveness of the proposed method is validated through multiple experimental tests,focused on a dual pneumatic artificial muscle system.Finally,experimental results show the effectiveness of the proposed approach in this paper.
机标关键词：controlsystemmodepowerratewithartificialdiscrete-time
论文发表日期：2022-11-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：11( 514-524 )
英文信息