Open AccessResearch on Pneumatic Muscle Position Control Based on Adaptive Backstepping Sliding Mode
Author(s) -
Danping Jia,
Zhi Cao
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1754/1/012090
Subject(s) - backstepping , control theory (sociology) , robustness (evolution) , lyapunov stability , sliding mode control , lyapunov function , computer science , nonlinear system , matlab , control engineering , controller (irrigation) , convergence (economics) , adaptive control , engineering , control (management) , artificial intelligence , physics , agronomy , biochemistry , chemistry , quantum mechanics , biology , economics , gene , economic growth , operating system
Aiming at the nonlinearity and uncertainty of pneumatic muscles, an adaptive backstepping sliding mode control method is proposed. Using the three-element model of pneumatic muscles, an adaptive backstepping sliding mode controller for pneumatic muscles is designed, which is proved by Lyapunov theory. For the stability of the system, a simulation test platform is built in MATLAB. The simulation results show that the designed controller has fast convergence speed and strong robustness.