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Sliding mode control of a 2DOF planar pneumatic manipulator / Michaël Van Damme in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 131 N°2 (Mars/Avril 2009) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N°2 (Mars/Avril 2009) . - 12 p. Titre : Sliding mode control of a 2DOF planar pneumatic manipulator Type de document : texte imprimé Auteurs : Michaël Van Damme, Auteur ; Vanderborght Bram, Auteur ; Ronald Van Ham, Auteur Année de publication : 2009 Article en page(s) : 12 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : dynamics  (mechanics);  pressure;  control  equipment;  simulation;  sliding  mode  control;  actuators;  valves;  feedback;  manipulators;  muscle Résumé : 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. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Sliding mode control of a 2DOF planar pneumatic manipulator [texte imprimé] / Michaël Van Damme, Auteur ; Vanderborght Bram, Auteur ; Ronald Van Ham, Auteur . - 2009 . - 12 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N°2 (Mars/Avril 2009) . - 12 p. Mots-clés : dynamics  (mechanics);  pressure;  control  equipment;  simulation;  sliding  mode  control;  actuators;  valves;  feedback;  manipulators;  muscle Résumé : 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. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]