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An integrated intelligent nonlinear control method for a pneumatic artificial muscle

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Ba, Dang Xuan, Trương, Đình Quang and Ahn, Kyoung Kwan (2016) An integrated intelligent nonlinear control method for a pneumatic artificial muscle. IEEE/ASME Transactions on Mechatronics, 21 (4). pp. 1835-1845. doi:10.1109/TMECH.2016.2558292 ISSN 1083-4435.

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Official URL: http://dx.doi.org/10.1109/TMECH.2016.2558292

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Abstract

This paper proposes an advanced position-tracking control approach, referred to as an integrated intelligent nonlinear controller, for a pneumatic artificial muscle (PAM) system. Due to the existence of uncertain, unknown, and nonlinear terms in the system dynamics, it is difficult to derive an exact mathematical model with robust control performance. To overcome this problem, the main contributions of this paper are as follows. To actively represent the behavior of the PAM system using a grey-box model, neural networks are employed as equivalent internal dynamics of the system model and optimized online by a Lyapunov-based method. To realize the control objective by effectively compensating for the estimation error, an advanced robust controller is developed from the integration of the designed networks, and improvement of the sliding mode and backstepping techniques. The convergences of both the developed model and the closed-loop control system are guaranteed by Lyapunov functions. As a result, the overall control approach is capable of ensuring the system's performance with fast response, high accuracy, and robustness. Real-time experiments are carried out in a PAM system under different conditions to validate the effectiveness of the proposed method.

Item Type: Journal Article
Subjects: R Medicine > R Medicine (General)
T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group)
Library of Congress Subject Headings (LCSH): Robotics, Actuators, Pneumatics, Medical technology
Journal or Publication Title: IEEE/ASME Transactions on Mechatronics
Publisher: Institute of Electrical and Electronics Engineers
ISSN: 1083-4435
Official Date: August 2016
Dates:
DateEvent
August 2016Published
25 April 2016Available
16 April 2016Accepted
Volume: 21
Number: 4
Page Range: pp. 1835-1845
DOI: 10.1109/TMECH.2016.2558292
Status: Peer Reviewed
Publication Status: Published
Access rights to Published version: Restricted or Subscription Access
Date of first compliant deposit: 20 March 2017
Date of first compliant Open Access: 20 March 2017
Funder: Ulsan Taehakkyo (Korea)

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