Design and experimental evaluation of a dynamical adaptive backstepping-sliding mode control scheme for positioning of an antagonistically paired pneumatic artificial muscles driven actuating system

ABSTRACTPneumatic artificial muscles (PAMs) are a class of pneumatic drives that have received considerable attention for applications related to bio-inspired robotics. Nevertheless, servo control of PAMs is challenging due to the compressibility and nonlinear flow characteristics of air, hysteresis behaviour as well as uncertainties present. In this paper, positioning of an antagonistically paired PAM with mass flow rate of compressed air regulated by a 5/3-way proportional directional valve and driven by a dynamical adaptive backstepping-sliding mode control (DAB-SMC) scheme is investigated. Implemented for the first time on a PAM-driven actuating system, derivation of this model-based nonlinear control scheme is presented first followed by experimental evaluation. Positioning performance is studied using a sinusoidal trajectory with tracking frequencies of 0.05, 0.1, 0.2 and 0.5 Hz, and a multiple-step polynomial input having step sizes of 0.7°, 1.4°, 2.9° and 5.7°. Over various operating conditions, a...

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