Improved Control Strategy of 2-Sliding Controls Applied to a Flexible Robot Arm

References

• Chou , C. P. and Hannaford , B. 1996 . Measurement and modeling of McKibben pneumatic artificial muscles . IIEEE Trans. Robotics Automat. , 12 : 90 – 102 .
   Google Scholar
• Klute , G. K. and Hannaford , B. 1998 . “ Fatigue characteristics of McKibben artificial muscle actuators ” . In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 1776 – 1782 . Victoria , BC
   Google Scholar
• Boitier , V. 1996 . “ Implementation and control of a SCARA robot, actuated by McKibben pneumatic artificial muscles ” . In PhD Thesis , Toulouse : INSA . in French
   Google Scholar
• Nakamura , N. , Sekiguchi , M. , Kawashima , K. , Kagawa , T. and Fujita , T. 2002 . “ Developing a robot arm using pneumatic artificial rubber muscles ” . In Power Transmission and Motion Control , Edited by: Burrows , C. R. and Edge , K. A. 365 – 376 . London : Professional Engineering Publishing .
   Google Scholar
• Verrelst , B. , Van Damme , M. and Lefeber , D. 2008 . Overview of the Lucy Project: dynamic stabilization of a biped powered by pneumatic artificial muscles . Adv. Robotics , 22 : 1027 – 1051 .
   Web of Science ®Google Scholar
• Nagaoka , T. , Konishi , Y. and Ishigaki , H. 1995 . Nonlinear optimal predictive control of rubber artificial muscle . Proc. SPIE , 2595 : 54 – 61 .
   Google Scholar
• Lilly , J. H. 2003 . Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations . IEEE Trans. Neural Syst. Rehabil. Eng. , 11 : 333 – 339 .
   PubMed Web of Science ®Google Scholar
• Chan , S. W. , Lilly , J. H. , Repperger , D. W. and Berlin , J. E. 2003 . “ Fuzzy PD + I learning control for a pneumatic muscle ” . In Proc. 12th IEEE Int. Conf. on Fuzzy Systems 278 – 283 . St Louis , MO
   Google Scholar
• Chettouh , M. , Toumi , R. and Hamerlain , M. 2008 . High order sliding modes for a robot driven by pneumatic artificial rubber muscles . Adv. Robotics , 22 : 689 – 704 .
   Web of Science ®Google Scholar
• Carbonell , P. , Jiang , Z. P. and Repperger , D. W. 2001 . “ Nonlinear control of a pneumatic muscle actuator: backstepping vs. sliding-mode ” . In Proc. IEEE Int. Conf. on Control Applications 167 – 172 . Mexico City
   Google Scholar
• Charles , P. C. and Godbole , D. 1994 . “ A comparison of robustness: fuzzy logic, PID, and sliding mode control ” . In Proc. IEEE World Congr. on Computational Intelligence 1654 – 1659 . Orlando , FL
   Google Scholar
• Utkin , V. I. , Guldner , J. , Shi , J. and Shijun , M. 1999 . Sliding Mode Control in Electromechanical Systems , London : Taylor &ncis .
   Google Scholar
• Young , K. D. , Utkin , V. I. and Ozguner , U. 1999 . A control engineer'de to sliding mode control . IEEE Trans. Control Syst. Technol. , 7 : 328 – 342 .
   Web of Science ®Google Scholar
• Emelyanov , S. V. , Korovin , S. K. and Levant , A. 1993 . High order sliding modes in control systems . Differential Equations , 29 : 1627 – 1647 .
   Web of Science ®Google Scholar
• Levant , A. 1993 . Sliding order and sliding accuracy in sliding mode control . Int. J. Control , 58 : 1247 – 1263 .
   Web of Science ®Google Scholar
• Emelyanov , S. V. , Korovin , S. K. and Levantvosky , L. V. 1986 . Higher order sliding modes in the binary control systems . Sov. Phys. Dokl. , 4 : 291 – 293 .
   Google Scholar
• Emelyanov , S. V. , Korovin , S. K. and Levantvosky , L. V. 1990 . A new of second-order sliding algorithms . Math. Model. , 2 : 89 – 100 . in Russian
   Google Scholar
• Utkin , V. I. 1977 . Variable structure systems with sliding modes . IEEE Trans. Automatic Control , 22 : 212 – 222 .
   Web of Science ®Google Scholar
• Ha , Q. P. , Rye , D. C. and Durrant-Whyte , H. F. 1999 . Fuzzy moving sliding mode control with application to robotic manipulators . Automatica , 35 : 607 – 616 .
   Web of Science ®Google Scholar
• Bartoszewicz , A. 1996 . Time-varying sliding modes for second-order systems . IEEE Control Theory Appl. , 143 : 455 – 462 .
   Google Scholar
• Tondu , B. , Ippolito , S. , Guiochet , J. and Daidie , A. 2005 . A seven-degrees-of-freedom robot arm driven by pneumatic artificial muscles for humanoid robots . Int. J. Robotics Res. , 24 : 257 – 274 .
   Web of Science ®Google Scholar
• Tondu , B. and Lopez , P. 2000 . Modeling and control ofMcKibben artificial muscle robot actuators . IEEE Control Syst. Mag. , 20 : 15 – 38 .
   Web of Science ®Google Scholar
• Lilly , J. H. and Liang , Y. 2005 . Sliding mode tracking for pneumatic muscle actuators in opposing pair configuration . IEEE Trans. Control Syst. Technol. , 13 : 550 – 558 .
   Web of Science ®Google Scholar
• Harashima , F. , Hashimoto , H. and Maruyama , K. 1986 . “ Practical robust control of robot arm using variable structure system ” . In Proc. IEEE Int. Conf. on Robotics and Automation vol. 3 , 532 – 539 . San Francisco , CA
   Google Scholar
• Arzelier , D. , Bernussou , J. and Garcia , G. 1993 . Pole assignment of linear uncertain systems in a sector via a Lyapunov-type approach . IEEE Trans. Automatic Control , 38 : 1128 – 1132 .
   Web of Science ®Google Scholar
• Löfberg , J. 2004 . “ YALMIP: a toolbox for modeling and optimization in MATLAB ” . In Proc. Computer Aided Control Systems Design Conf 284 – 289 . Taipei
   Google Scholar