Discrete-time sliding mode control based on exponential reaching law of a pneumatic artificial muscle actuator / Quy-Thinh Dao and Trung-Kien Le Tri

• Main Authors: Dao, Quy-Thinh, Tri, Trung-Kien Le
• Format: Article
• Language: English
• Published: Universiti Teknologi MARA 2022
• Subjects: Machine construction (General)
• Online Access: https://ir.uitm.edu.my/id/eprint/60599/1/60599.pdf; https://ir.uitm.edu.my/id/eprint/60599/; https://jmeche.uitm.edu.my/
• Institution: Universiti Teknologi Mara

In this paper, a discrete-time sliding mode control (DSMC) approach based on exponential reaching law (ERL) is developed for a pneumatic artificial muscle (PAM) system to achieve high tracking performance and chattering alleviation. The proposed controller is designed based on an exponential term th...