This paper develops a discrete-time sliding mode controller with a power rate exponential reaching law approach to enhance the performance of a pneumatic artificial muscle system in both reaching time and chattering r...This paper develops a discrete-time sliding mode controller with a power rate exponential reaching law approach to enhance the performance of a pneumatic artificial muscle system in both reaching time and chattering reduction.The proposed method dynamically adapts to the variation of the switching function,which is based on an exponential term and a power rate term of the sliding surface.Thus,the controlled system can achieve high tracking performance while still obtain chattering-free control.Moreover,the effectiveness of the proposed method is validated through multiple experimental tests,focused on a dual pneumatic artificial muscle system.Finally,experimental results show the effectiveness of the proposed approach in this paper.展开更多
文摘This paper develops a discrete-time sliding mode controller with a power rate exponential reaching law approach to enhance the performance of a pneumatic artificial muscle system in both reaching time and chattering reduction.The proposed method dynamically adapts to the variation of the switching function,which is based on an exponential term and a power rate term of the sliding surface.Thus,the controlled system can achieve high tracking performance while still obtain chattering-free control.Moreover,the effectiveness of the proposed method is validated through multiple experimental tests,focused on a dual pneumatic artificial muscle system.Finally,experimental results show the effectiveness of the proposed approach in this paper.
