Second order sliding mode controller design for pneumatic artificial muscle
Other Title(s)
تصميم متحكم منزلق النمط من الدرجة الثانية لعضله اصطناعية هوائية
Joint Authors
al-Jawdah, Ammar Abd al-Husayn
Khamis, Layth
Source
Issue
Vol. 24, Issue 1 (31 Jan. 2018), pp.159-172, 14 p.
Publisher
University of Baghdad College of Engineering
Publication Date
2018-01-31
Country of Publication
Iraq
No. of Pages
14
Main Subjects
Natural & Life Sciences (Multidisciplinary)
Abstract EN
In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs).
A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model.
Uncertainty in parameters has been presented and tested for the two controllers.
The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one.
The verification has been done by using MATLAB and Simulink software.
American Psychological Association (APA)
al-Jawdah, Ammar Abd al-Husayn& Khamis, Layth. 2018. Second order sliding mode controller design for pneumatic artificial muscle. Journal of Engineering،Vol. 24, no. 1, pp.159-172.
https://search.emarefa.net/detail/BIM-796644
Modern Language Association (MLA)
al-Jawdah, Ammar Abd al-Husayn& Khamis, Layth. Second order sliding mode controller design for pneumatic artificial muscle. Journal of Engineering Vol. 24, no. 1 (Jan. 2018), pp.159-172.
https://search.emarefa.net/detail/BIM-796644
American Medical Association (AMA)
al-Jawdah, Ammar Abd al-Husayn& Khamis, Layth. Second order sliding mode controller design for pneumatic artificial muscle. Journal of Engineering. 2018. Vol. 24, no. 1, pp.159-172.
https://search.emarefa.net/detail/BIM-796644
Data Type
Journal Articles
Language
English
Notes
Includes appendices : p. 167-172
Record ID
BIM-796644
