单臂pam驱动机械臂最优滑模控制

2021 IEEE 11th International Conference on System Engineering and Technology (ICSET) Pub Date : 2021-11-06 DOI:10.1109/ICSET53708.2021.9612539

M. E. Sadiq, A. Humaidi, S. Kadhim, Ammar K. Al Mhdawi, A. Alkhayyat, I. Ibraheem

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引用次数: 4

摘要

气动人工肌肉驱动的机械臂具有高度非线性和系数时变的特点。因此，需要非线性和鲁棒控制器来应对这些具有挑战性的控制问题。介绍了基于滑模控制(SMC)的pam驱动机械臂轨迹跟踪控制设计的发展。利用粒子群算法对所提控制器的设计参数进行整定，进一步提高被控PAM系统的性能。利用MATLAB编程软件，通过计算机仿真对最优和非最优SMC控制器进行了比较研究。

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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Optimal Sliding Mode Control of Single Arm PAM-Actuated Manipulator

The manipulators actuated by Pneumatic Artificial Muscles (PAMs) are characterized by high nonlinearity and time varying of their coefficients. Therefore, nonlinear and robust controllers are required to cope with these challenging control problems. This work presents the development of control design for trajectory tracking of PAM-actuated manipulator based on Sliding Mode Control (SMC). The PSO technique is used to tune the design parameters of proposed controller for further enhancement of controlled PAM system performance. A comparison study has been conducted between the optimal and non-optimal SMC controllers via computer simulation using MATLAB programming software.

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2021 IEEE 11th International Conference on System Engineering and Technology (ICSET)

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