Intelligent twisting sliding mode controller using neural network for pneumatic artificial muscles robot arm

摘要

In this note we present a novel intelligent twisting sliding mode controller using neural network, achieving chatter reduction for the control of pneumatic artificial muscles robot arm. The system is highly non-linear and somehow difficult to model therefore resorting to robust control is required. Thanks to their property as universal approximators, in this work a two layer NN with on line adaptive learning law is used to reconstruct unknown and unmodeled robot dynamics, and the realisation of a two sliding mode is achieved through the design of a nonlinear sliding surface. The stability of the overall system is guaranteed by lyapunov method. Experimental results are presented and discussed.