不确定气动肌肉驱动悬挂质量非线性最优控制方案的比较研究

2021 IEEE 11th International Conference on System Engineering and Technology (ICSET) Pub Date : 2021-11-06 DOI:10.1109/ICSET53708.2021.9612530

M. E. Sadiq, A. Humaidi, S. Kadhim, Abdulkareem Sh. Mahdi, A. Alkhayyat, I. Ibraheem

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引用次数: 4

摘要

气动人工肌肉驱动系统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。本文提出了一种基于滑模控制(SMC)、反步滑模控制(BSMC)的pam驱动机械臂轨迹跟踪控制新设计。根据李雅普诺夫稳定性分析，建立了基于SMC和BSMC的可控PAM悬体控制规律。此外，还利用粒子群算法对所提出的控制器的设计参数进行了调整，以进一步提高被控PAM系统的性能。利用MATLAB/Simulink编程软件对所提出的控制器进行了计算机仿真对比研究。

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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Comparative Study of Optimal Nonlinear Control Schemes for Hanging Mass Actuated by Uncertain Pneumatic Muscle

The systems 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 new control design for trajectory tracking of PAM-actuated manipulator based on Sliding Mode Control (SMC), Backstepping Sliding Mode Control (BSMC). The control laws of controlled PAM hanging mass based on SMC and BSMC have been developed according to Lyapunov stability analysis. Additionally, the PSO technique is used to tune the design parameters of proposed controllers for further enhancement of controlled PAM system performance. A comparison study has been conducted among the proposed controllers via computer simulation using MATLAB/Simulink programming software.

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

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