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Sliding mode control of a “Soft” 2-DOF Planar Pneumatic Manipulator

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This paper presents a sliding mode controller for a “Soft” 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed

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Authors and Affiliations

  1. Robotics and Multibody Mechanics Research Group Department of Mechanical Engineering, Vrije Universiteit Pleinlaan 2, 1050, Brussel, Belgium

    M. Van Damme, B. Vanderborght, P. Beyl, R. Versluys, I. Vanderniepen, R. Van Ham, P. Cherelle, F. Daerden & D. Lefeber

Authors
  1. M. Van Damme
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  2. B. Vanderborght
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  3. P. Beyl
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  4. R. Versluys
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  5. I. Vanderniepen
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  6. R. Van Ham
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  7. P. Cherelle
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  8. F. Daerden
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  9. D. Lefeber
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Corresponding author

Correspondence to M. Van Damme.

Additional information

Published in Prikladnaya Mekhanika, Vol. 44, No. 10, pp. 135–144, October 2008.

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Van Damme, M., Vanderborght, B., Beyl, P. et al. Sliding mode control of a “Soft” 2-DOF Planar Pneumatic Manipulator. Int Appl Mech 44, 1191–1199 (2008). https://doi.org/10.1007/s10778-009-0134-6

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  • DOI: https://doi.org/10.1007/s10778-009-0134-6

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