TY - GEN
T1 - New sliding mode control for pneumatic muscle actuator joint model via delta operator approach
AU - Zhao, Tong
AU - Zhao, Ling
AU - Wang, Tao
PY - 2011
Y1 - 2011
N2 - In this paper, a delta operator robust sliding mode controller is presented for pneumatic muscle actuator joint model. Sampling the model, a class of delta operator system with parameter uncertainty and exogenous disturbance is obtained. Sufficient LMI conditions are developed to guarantee the existence of the discrete linear sliding surfaces. By solving the conditions, a linear sliding surface is characterized and a robust sliding mode controller is designed. Based on a class of pneumatic muscle actuator joint model parameters, an example is given to illustrate the effectiveness of the developed techniques.
AB - In this paper, a delta operator robust sliding mode controller is presented for pneumatic muscle actuator joint model. Sampling the model, a class of delta operator system with parameter uncertainty and exogenous disturbance is obtained. Sufficient LMI conditions are developed to guarantee the existence of the discrete linear sliding surfaces. By solving the conditions, a linear sliding surface is characterized and a robust sliding mode controller is designed. Based on a class of pneumatic muscle actuator joint model parameters, an example is given to illustrate the effectiveness of the developed techniques.
KW - Linear matrix inequalities (LMIs)
KW - Norm-bounded uncertainties
KW - Pneumtic muscle actuator joint model
KW - Robust stability
KW - Sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=79952965426&partnerID=8YFLogxK
U2 - 10.1109/ICMTMA.2011.456
DO - 10.1109/ICMTMA.2011.456
M3 - Conference contribution
AN - SCOPUS:79952965426
SN - 9780769542966
T3 - Proceedings - 3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011
SP - 686
EP - 689
BT - Proceedings - 3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011
T2 - 3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011
Y2 - 6 January 2011 through 7 January 2011
ER -