Study on Model Free Adaptive Sliding Mode Controller for Artificial Muscle Actuators

doi:10.12068/j.issn.1005-3026.2017.11.020

Abstract

Abstract: The traditional control strategies for artificial muscle actuators based on the control object model have drawbacks such as complex in control laws， too many control parameters which is tedious to adjust， and having poor universality. Thus， a model free adaptive sliding mode controller (MFASMC) was designed based on the gradient method and proved in stability. Then， the new algorithm was simulated to contorl the identification models of IPMC(ionic polymer metal composite) and PAM(pneumatic artifical muscle) respectively. The results proved that the control parameters can be adjusted online by the new MFASMC algorithm rapidly， by designing the control parameters regulation rules. In this way， MFASMC makes the modeling process is not necessary. Moreover， the good control effects can be obtained for various artificial muscle actuators with no need to adjust any control parameters. Therefore， MFASMC has good adaptability and universality.

Key words: artificial muscle, MFASMC(model free adaptive sliding mode controller), IPMC(ionic polymer metal composite), PAM(pneumatic artifical muscle)

CLC Number:

TH122

YANG Hui， HAO Li-na， SUN Zhi-yong， CHEN Yang. Study on Model Free Adaptive Sliding Mode Controller for Artificial Muscle Actuators[J]. Journal of Northeastern University Natural Science, 2017, 38(11): 1618-1622.

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