Sliding mode control for a high-speed linear axis driven by pneumatic muscles

MaRDI QIDQ3086730zbMATH OpenFDO

Authors Harald Aschemann, Dominik Schindele

Publication date 30 March 2011

zbMATH Keywords

cascaded sliding mode controldisturbance observerfast underlying control loopfour nonlinear differential equations

Mathematics Subject Classification ID

Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Stability of control systems (93D99)

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(9)

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• Design and experimental study of a dynamical adaptive backstepping -- sliding mode control scheme for position tracking and regulating of a low-cost pneumatic cylinder
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• Design and experimental evaluation of a dynamical adaptive backstepping-sliding mode control scheme for positioning of an antagonistically paired pneumatic artificial muscles driven actuating system
• Sliding mode control of a ``soft 2-DOF planar pneumatic manipulator
• High-order sliding mode for an electropneumatic system: a robust differentiator-controller design
• Experimentally verified point-to-point iterative learning control for highly coupled systems
• Modeling and control of twisted and coiled artificial muscles for soft robotics
• Data-driven gradient-based point-to-point iterative learning control for nonlinear systems

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