Design and experimental evaluation of a dynamical adaptive backstepping-sliding mode control scheme for positioning of an antagonastically paired pneumatic artificial muscles driven actuating system

Abd Rahman, Ramhuzaini and Sepehri, Nariman (2016) Design and experimental evaluation of a dynamical adaptive backstepping-sliding mode control scheme for positioning of an antagonastically paired pneumatic artificial muscles driven actuating system. International Journal of Control . ISSN 00207179

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Abstract

Pneumatic Artificial Muscles (PAMs) are a class of pneumatic drives that have received considerable attention for applications related to bio-inspired robotics. Nevertheless, servo control of PAMs is challenging due to the compressibility and nonlinear flow characteristics of air, hysteresis behavior as well as uncertainties present. In this paper, positioning of an antagonistically paired PAMs with mass flow rate of compressed air regulated by a 5/3-way proportional directional valve and driven by a Dynamical Adaptive Backstepping-Sliding Mode Control (DAB-SMC) scheme is investigated. Implemented for the first time on a PAM-driven actuating system, derivation of this model-based nonlinear control scheme is presented first followed by experimental evaluation. Positioning performance is studied using a sinusoidal trajectory with tracking frequencies of 0.05Hz, 0.1Hz , 0.2Hz and 0.5Hz, and a multiple-step polynomial input having step sizes of 0.7°, 1.4°, 2.9° and 5.7°. Over various operating conditions, average root mean square error (RMSE) value of 0.16° and steady-state error (SSE) value of 0.04° are achieved for position tracking and regulating, respectively. The adaptive LuGre friction observer embedded in the control scheme effectively compensates hysteresis behavior of the PAMs and helps to improve the performance. The proposed DAB-SMC scheme outperforms the classical sliding mode control scheme by 33% in accuracy. The control scheme is also demonstrated a robust performance towards the uncertainties including loading. In addition, a slight performance compromise in both tracking and regulating tasks was observed, when the 5/3-way proportional valve is replaced by cost-effective 2/2-way pulse width modulation controlled on-off valves.

Item Type:Article
Uncontrolled Keywords:Pneumatic artificial muscle (PAM); nonlinear controller; sliding mode control; LuGre-based friction observer
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Divisions:Faculty of Mechanical and Manufacturing Engineering > Department of Mechanical Engineering Technology
ID Code:8590
Deposited By:Mr. Mohammad Shaifulrip Ithnin
Deposited On:17 Jul 2017 11:37
Last Modified:17 Jul 2017 11:37

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