Integral Sliding Mode Trajectory Tracking Method for 1-DOP Manipulator Systems driven by Pneumatic Muscles on the Basis of the Nonlinear Extended State Observer

Abstract

This paper aims to get good trajectory tracking performance for 1-DOP(degrees of freedom) manipulator system driven by pneumatic muscles. However, it is difficult for achieving wonderful trajectory tracking performance due to nonlinearity of the 1-DOP manipulator system. The integral sliding mode trajectory tracking method is shown on 1-DOP manipulator system within the paper. A nonlinear extended state observer is proposed for estimating the nonlinearity of 1-DOP manipulator system. Moreover, an integral sliding mode controller on the basis of nonlinear extended state observer is adopted for getting good trajectory tracking performance in 1-DOP manipulator system. Finally, results of the simulation show that good trajectory tracking performance is achieved by proposed integral sliding mode trajectory tracking method within the paper.