Improved Proxy-based Sliding Mode Control Integrated Adaptive Dynamic Programming For Pneumatic Muscle Actuators

Abstract

It is an urgent social problem that the rehabilitation needs of the elderly and the disabled can hardly be satisfied. The human-centered rehabilitation robot is a potential solution. In this paper, an auxiliary control scheme based on adaptive dynamic programming is proposed for a class of pneumatic artificial muscles. The improved proxy-based sliding mode controller is used as the basic controller, and an adaptive dynamic programming controller is used to provide auxiliary control signals. To ensure the reliability of the control strategy, the Lyapunov theorem is used to analyze the stability of the control scheme. The simulation results of the proposed method are compared with those of PID, proxy-based sliding mode control, and adaptive proxy-based sliding mode control without the auxiliary controller. Numerical results verify the effectiveness of the control scheme.