Research on Pneumatic Muscle Position Control Based on Adaptive Backstepping Sliding Mode. Issue 1 (February 2021)

• Record Type: Journal Article
• Authors: Jia, Danping; Cao, Zhi
• Is Part Of: Journal of physics. Volume 1754:Issue 1(2021)
• Publication Date: 2021-02
• Subjects: Physics -- Congresses; 530.5
• DOI: 10.1088/1742-6596/1754/1/012090
• Languages: English
• ISSNs: 1742-6588

Abstract

Abstract: Aiming at the nonlinearity and uncertainty of pneumatic muscles, an adaptive backstepping sliding mode control method is proposed. Using the three-element model of pneumatic muscles, an adaptive backstepping sliding mode controller for pneumatic muscles is designed, which is proved by Lyapunov theory. For the stability of the system, a simulation test platform is built in MATLAB. The simulation results show that the designed controller has fast convergence speed and strong robustness.