A robust controller for manipulator driven by artificial muscle actuator

A new sliding mode controller for manipulator derived by artificial muscle actuator is presented which guarantees asymptotic tracking of a desired trajectory. Based on the nonlinear characteristic of artificial muscle tube, a dynamic model of artificial muscle actuator is formed and exploited to derive a full dynamic model for manipulator system. By applying the sliding mode control technique and the presented full dynamic of manipulator, a robust tracking control approach is developed for such manipulator system. Some numerical case studies are provided to illustrate the performance of the control approach.