A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups.
Multiple-input sliding-mode techniques are applied to a planar arm actuated by four groups of pneumatic muscle (PM) actuators in opposing pair configuration. The control objective is end-effector tracking of a desired path in Cartesian space. The inputs to the system are commanded input pressure differentials for the two opposing PM groups. An existing model for the muscle is incorporated into the arm equations of motion to arrive at a two-input, two-output nonlinear model of the planar arm that is affine in the input and, therefore, suitable for sliding-mode techniques. Relationships between static input pressures are derived for suitable arm behavior in the absence of a control signal. Simulation studies are reported.
Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY 40292, USA.
John H
JH
Lilly
Peter M
PM
Quesada
D001132:Arm / Q000502:physiology*; D001186:Artificial Limbs; D040761:Biomimetic Materials; D003198:Computer Simulation; D017076:Computer-Aided Design; D004551:Elbow Joint / Q000502:physiology; D006801:Humans; D008954:Models, Biological; D009119:Muscle Contraction / Q000502:physiology; D018482:Muscle, Skeletal / Q000502:physiology*; D009989:Orthotic Devices; D004856:Postural Balance / Q000502:physiology; D011312:Pressure; D011474:Prosthesis Design; D012212:Rheology / Q000295:instrumentation / Q000379:methods; D012371:Robotics / Q000379:methods*; D012785:Shoulder Joint / Q000502:physiology