Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

  • Ammar Al-Jodah Control & Systems Eng. Dept. University of Technology
  • Laith Khames Control & Systems Eng. Dept. University of Technology
Keywords: PAM, Sliding Mode Controller.

Abstract

In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.

 

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Published
2018-01-14
How to Cite
Al-Jodah, A. and Khames, L. (2018) “Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle”, Journal of Engineering, 24(1), pp. 159-172. Available at: http://joe.uobaghdad.edu.iq/index.php/main/article/view/505 (Accessed: 24September2020).