FUZZY SLIDING MODE CONTROL OF 3-DOF SHOULDER JOINT DRIVEN BY PNEUMATIC MUSCLE ACTUATORS
Kai Liu, Yang Wu, Jiaqi Xu, Yangwei Wang, Zhishang Ge, and Yonghua Lu
Keywords
Pneumatic Muscle actuator (PMA), 3-DOF Shoulder joint, fuzzy sliding mode controller (FSMC)
Abstract
The pneumatic muscle actuator (PMA) is a new-style actuator,
similar to biological muscle, which is widely applied in bionics. This
paper deals with implementation of fuzzy sliding mode controller
(FSMC) on bionic shoulder joint robot, which is a novel decoupled
parallel robot. For the purpose of controlling robot, the kinematic
and dynamic analyses of the 3-DOF shoulder joint driven by PMAs
are carried out. Based on the advantages of sliding mode control
(SMC) algorithm and fuzzy theory, we design FSMC to control
this shoulder joint robot. Compared with sliding model controller,
FSMC makes accurate compensation for the modeling errors and
external disturbances. The experiments show that the designed
FSMC can effectively improve the tracking accuracy of the system
and reduce the chattering.
Important Links:
Go Back