Chatter Reduction in an Artificial Muscles robot Application

We are concerned with the control of a 3-DOF robot actuated by pneumatic rubber muscles. The system is highly non-linear and somehow difficult to model; variable structure system control imposes itself as a very relevant type of control. This paper presents two types of robust controls. One uses a classical variable structure (CVS) control associated to a PID control; the other is a derivative control. Both controllers are implemented on a robot driven by artificial rubber muscles. The goal is the comparison of the two controllers in their ability to reduce chatter. Experimental results are presented and discussed.

[1]  Michel Fliess,et al.  Generalized controller canonical form for linear and nonlinear dynamics , 1990 .

[2]  Jean-Jacques E. Slotine,et al.  Robot analysis and control , 1988, Autom..

[3]  G. Bartolini,et al.  Chattering avoidance by second-order sliding mode control , 1998, IEEE Trans. Autom. Control..

[4]  Ying Dai,et al.  A sliding mode controller for manipulator driven by artificial muscle actuator , 2000, Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162).

[5]  J. H. Lilly,et al.  Sliding mode tracking for pneumatic muscle actuators in bicep/tricep pair configuration , 2003, Proceedings of the 2003 American Control Conference, 2003..

[6]  M. Fliess.  Automatique et corps différentiels , 1989 .

[7]  Mustapha Hamerlain,et al.  Switching on the derivative of control to reduce chatter , 2001 .

[8]  Jean-Jacques E. Slotine,et al.  Adaptive sliding controller synthesis for non-linear systems , 1986 .

[9]  Ching-Ping Chou,et al.  Static and dynamic characteristics of McKibben pneumatic artificial muscles , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[10]  Hung T. Nguyen,et al.  A Chattering-Free Variable Structure Controller for Tracking of Robotic Manipulators , 2003 .

[11]  Blake Hannaford,et al.  Measurement and modeling of McKibben pneumatic artificial muscles , 1996, IEEE Trans. Robotics Autom..

[12]  N. Yee,et al.  Modelling of a novel rotary pneumatic muscle , 2002 .

[13]  Liang Yang,et al.  Sliding mode tracking for pneumatic muscle actuators in opposing pair configuration , 2005, IEEE Transactions on Control Systems Technology.

[14]  V. I. Utkin,et al.  Discontinuous Control Systems: State of Art in Theory and Applications , 1987 .

[15]  Antonella Ferrara,et al.  Chattering avoidance by second-order sliding mode control , 1998, IEEE Transactions on Automatic Control.

[16]  A. Levant.  Sliding order and sliding accuracy in sliding mode control , 1993 .

[17]  Dawei Cai,et al.  A robust controller for manipulator driven by artificial muscle actuator , 1996, Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro.

[18]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[19]  Nikolaos G. Tsagarakis,et al.  Improved modelling and assessment of pneumatic muscle actuators , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[20]  Pablo Carbonell,et al.  Nonlinear control of a pneumatic muscle actuator: backstepping vs. sliding-mode , 2001, Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204).

[21]  Fumio Harashima,et al.  Practical robust control of robot arm using variable structure system , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[22]  Pierre Lopez,et al.  Modeling and control of McKibben artificial muscle robot actuators , 2000 .