Sliding Mode Control of a 2DOF Planar Pneumatic Manipulator

This paper presents a sliding mode controller for a 2DOF planar pneumatic manipulator actuated by pleated pneumatic artificial muscle actuators. It is argued that it is necessary to account for the pressure dynamics of muscles and valves. A relatively detailed system model that includes pressure dynamics is established. Since the model includes actuator dynamics, feedback linearization was necessary to design a sliding mode controller. The feedback linearization and subsequent controller design are presented in detail, and the controller’s performance is evaluated, both in simulation and experimentally. Chattering was found to be quite severe, so the introduction of significant boundary layers was required.

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Tracking Control of Robot Manipulator Using Sliding Mode Controller With Performance Robustness

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2802443 ◽

1999 ◽

Vol 121 (1) ◽

pp. 64-70 ◽

Cited By ~ 20

Author(s):

Chieh-Li Chen ◽

Rui-Lin Xu

Keyword(s):

Tracking Control ◽

Feedback Linearization ◽

Controller Design ◽

Sliding Mode ◽

Robot Manipulator ◽

Design Procedure ◽

Sliding Mode Controller ◽

Systematic Design ◽

And Performance ◽

The Stability

The tracking control problem of robot manipulator is considered in this paper. A sliding mode controller design with global invariance is proposed using the concept of extended system and feedback linearization. The sliding surface is assigned such that the sliding mode motion will occur while the proposed control law is applied. This results in a system with global invariance. The stability and performance of the resulting system can be guaranteed by the proposed systematic design procedure.

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Adaptive MIMO Controller Design for Chaos Synchronization in Coupled Josephson Junctions via Fuzzy Neural Networks

Journal of Advanced Engineering and Computation ◽

10.25073/jaec.201711.52 ◽

2017 ◽

Vol 1 (1) ◽

pp. 80

Author(s):

Thien Bao Tat Nguyen

Keyword(s):

Josephson Junctions ◽

Feedback Linearization ◽

Controller Design ◽

Sliding Mode ◽

Fuzzy Neural Networks ◽

Sliding Mode Controller ◽

Neural Controller ◽

Control Approach ◽

Creative Commons ◽

Fuzzy Neural

In this paper, we have discussed the synchronization between coupled Josephson Junctions which experience different chaotic oscillations. Due to potential high-frequency applications, the shunted nonlinear resistive-capacitive-inductance junction (RCLSJ) model of Josephson junction was considered in this paper. In order to obtain the synchronization, an adaptive MIMO controller is developed to drive the states of the slave chaotic junction to follow the states of the master chaotic junction. The developed controller has two parts: the fuzzy neural controller and the sliding mode controller. The fuzzy neural controller employs a fuzzy neural network to simulate the behavior of the ideal feedback linearization controller, while the sliding mode controller is used to ensure the robustness of the controlled system and reduce the undesired effects of the estimate errors. In addition, the Lyapunov candidate function is also given for further stability analysis. The numerical simulations are carried out to verify the validity of the proposed control approach. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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