利用基于LabVIEW的滑模控制器对不同温度下的气动人工肌肉进行精确定位

2014 IEEE 9th IEEE International Symposium on Applied Computational Intelligence and Informatics (SACI) Pub Date : 2014-05-15 DOI:10.1109/SACI.2014.6840040

J. Sárosi

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引用次数: 10

摘要

气动人工肌肉具有高度非线性和时变的特点，控制难度大，需要采用鲁棒控制方法。滑模控制可以很好地用于pam的精确定位。本文确定了基于滑模控制的流体肌肉在不同温度下的定位误差。该控制器是在LabVIEW环境下开发的，实验误差为0.01 mm。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Accurate positioning of pneumatic artificial muscle at different temperatures using LabVIEW based sliding mode controller

Pneumatic artificial muscles (PAMs) are difficult to control because of their highly nonlinear and time varying nature, thus robust control method is needed. Sliding mode control can be favourably used for accurate positioning of PAMs. In this paper the error of sliding mode control based positioning of a Fluidic Muscle at different temperatures is determined. The controller is developed in LabVIEW and the error of the experiments shows 0.01 mm.

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来源期刊

2014 IEEE 9th IEEE International Symposium on Applied Computational Intelligence and Informatics (SACI)

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