Derivative control in sliding mode of a robot driven by artificial muscles

摘要

This paper shows a robust control of a robot arm actuated by pneumatic artificial antagonistic muscles. The goal is chatter reduction. In this work the control problem is considered using a generalised variable structure algorithm which is similar to a 2-sliding mode control applied on a system of relative degree one with respect to the sliding constraint. The paper purpose is an experimental study where the control performances are discussed