Improved fuzzy sliding mode control in flexible manipulator actuated by PMAs

作者：Fang Li, Zheng Zhang, Yang Wu, Yining Chen, Kai Liu, Jiafeng Yao · 发表于：Robotica · 年份：2022 · DOI：10.1017/s0263574721001909 · 被引用次数：21 · 研究领域：Prosthetics and Rehabilitation Robotics、Hydraulic and Pneumatic Systems、Muscle activation and electromyography studies

Abstract Pneumatic muscle actuator (PMA) similar to biological muscle is a new type of pneumatic actuator. The flexible manipulator based on PMAs was constructed to simulate the actual movement of the human upper arm. Considering the model errors and external disturbances, the fuzzing sliding mode control based on the saturation function was proposed. Compared with other fuzzy control methods, fuzzy control and saturation function are used to adjust the robust terms to improve the tracking accuracy and reduce the high-frequency chattering.