Data-driven MIMO discrete-time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles

摘要

In this paper, a data-driven multi-input multi-output discrete-time predictive model-free adaptive integral terminal sliding mode controller is proposed for the robotic manipulators driven by pneumatic artificial muscles with unknown models and external disturbances. First, using the concept of compact-form dynamic linearization technique, dynamics of the robotic manipulator are represented in discrete-time linear data-model form. Second, a time-delay based estimation algorithm along with an adaptive law is investigated to estimate external disturbances and pseudo-Jacobian matrix, respectively. Eventually, the proposed controller is derived based on a data-driven discrete-time integral terminal sliding function and by utilizing the concept of model-predictive controllers. The simulation results obviously clarify the efficacy of the proposed method.