Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

Article Arabic OPEN
Ammar Al-Jodah; Laith Khames;
(2018)
  • Publisher: University of Baghdad
  • Journal: Engineering Journal (issn: 1726-4073, eissn: 2520-3339)
  • Publisher copyright policies & self-archiving
  • Subject: TA1-2040 | Engineering (General). Civil engineering (General)
    arxiv: Quantitative Biology::Tissues and Organs | Computer Science::Robotics | Computer Science::Systems and Control

In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actu... View more
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