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Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer

Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer

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The dynamic properties and non-linear control of the pneumatic muscle actuator (PMA) were investigated in this study for use in a specially designed hand rehabilitation device. The phenomenological model of PMA was established in the lower pressure range applicable for hand rehabilitation. The experimental results show that PMA's characteristics can be approximated by piecewise functions. In order to improve the performance and robustness of control for accurate trajectory tracking, a sliding mode control based on non-linear disturbance observer (SMCBNDO) was designed. The simulation and experimental results demonstrated that the model and the sliding mode control achieved the desired performance in tracking a desired trajectory within guaranteed accuracy. The work indicates that the model and the non-linear control proposed in this study can be applied in PMA-driven hand function rehabilitation devices requiring lower pressures.

Inspec keywords: variable structure systems; patient rehabilitation; pneumatic actuators; artificial limbs; tracking; medical robotics; observers; nonlinear control systems

Other keywords: trajectory tracking; PMA; phenomenological model; dynamic property; pneumatic artificial muscle actuators; hand rehabilitation device; sliding mode control; SMCBNDO; pneumatic muscle actuator; tracking control; nonlinear control; nonlinear disturbance observer

Subjects: Prosthetics and other practical applications; Multivariable control systems; Robotics; Hydraulic and pneumatic control equipment; Prosthetic and orthotic control systems; Nonlinear control systems

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