Discrete-time sliding mode control with power rate exponential reaching law of a pneumatic artificial muscle system  

作　　者：Quy-Thinh Dao Trung-Kien Le Tri Van-Anh Nguyen Manh-Linh Nguyen 

机构地区：[1]School of Electrical and Electronic Engineering,Hanoi University of Science and Technology,Dai Co Viet,Hanoi 11615,Vietnam

出　　处：《Control Theory and Technology》2022年第4期514-524,共11页控制理论与技术（英文版）

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.

关 键 词：Pneumatic artificial muscle Discrete-time sliding mode control Exponential reaching law CHATTERING 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]