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- Title
New approach of sliding mode control for nonlinear uncertain pneumatic artificial muscle manipulator enhanced with adaptive fuzzy estimator.
- Authors
Anh, Ho Pham Huy; Kien, Cao Van; Son, Nguyen Ngoc; Nam, Nguyen Thanh
- Abstract
A new enhanced adaptive fuzzy sliding mode control approach is proposed in this article with its good availability for application in control of a highly uncertain nonlinear two-link pneumatic artificial muscle manipulator. Stability demonstration of the robust convergence of the closed-loop pneumatic artificial muscle manipulator system based on a novel enhanced adaptive fuzzy sliding mode control is experimentally proved using Lyapunov stability theorem. Obtained result confirms that the new enhanced adaptive fuzzy sliding mode control method, applied to the two-link uncertain nonlinear pneumatic artificial muscle manipulator system, is fully investigated with better robustness and precision than the standard sliding mode control and fuzzy sliding mode control techniques.
- Subjects
ADAPTIVE fuzzy control; FUZZY control systems; ARTIFICIAL muscles; STOCHASTIC convergence; LYAPUNOV functions
- Publication
International Journal of Advanced Robotic Systems, 2018, Vol 15, Issue 3, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.1177/1729881418773204