High Order Homogeneous Sliding Mode Control for a Robot Arm with Pneumatic Artificial Muscles

摘要

This paper deals with the development of a robust control law for a robot arm driven by artificial muscles. Such systems are known by the nonlinearity and inaccuracy of their models, these characteristics make them difficult to control by classical command laws. For this reason, an algorithm based on the high order sliding mode (HOSM) control is proposed. The idea is to raise the relative degree of the system to allow the use of homogeneity theory in the HOSM. Simulation results show that the suggested controller is able to compensate the model uncertainty and nonlinearity. Add to that, it improves the HOSM performance.