Adaptive fuzzy sliding mode control of an actuator powered by two opposing pneumatic artificial muscles.
Journal
Scientific reports
ISSN: 2045-2322
Titre abrégé: Sci Rep
Pays: England
ID NLM: 101563288
Informations de publication
Date de publication:
22 May 2023
22 May 2023
Historique:
received:
30
12
2022
accepted:
02
05
2023
medline:
23
5
2023
pubmed:
23
5
2023
entrez:
22
5
2023
Statut:
epublish
Résumé
Pneumatic artificial muscle (PAM) is a potential actuator in human-robot interaction systems, especially rehabilitation systems. However, PAM is a nonlinear actuator with uncertainty and a considerable delay in characteristics, making control challenging. This study presents a discrete-time sliding mode control approach combined with the adaptive fuzzy algorithm (AFSMC) to deal with the unknown disturbance of the PAM-based actuator. The developed fuzzy logic system has parameter vectors of the component rules that are automatically updated by an adaptive law. Consequently, the developed fuzzy logic system can reasonably approximate the system disturbance. When operating the PAM-based system in multi-scenario studies, experimental results confirm the efficiency of the proposed strategy.
Identifiants
pubmed: 37217508
doi: 10.1038/s41598-023-34491-3
pii: 10.1038/s41598-023-34491-3
pmc: PMC10202942
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
8242Subventions
Organisme : Trường Đại học Bách Khoa Hà Nội
ID : T2022-PC-002
Informations de copyright
© 2023. The Author(s).
Références
Ann Biomed Eng. 2003 Mar;31(3):310-7
pubmed: 12680728
IEEE Trans Cybern. 2013 Jun;43(3):1025-34
pubmed: 23193241
IEEE Trans Neural Syst Rehabil Eng. 2009 Feb;17(1):2-8
pubmed: 19211317
J Neuroeng Rehabil. 2009 Jun 23;6:23
pubmed: 19549338
IEEE Trans Neural Syst Rehabil Eng. 2005 Sep;13(3):380-94
pubmed: 16200761
IEEE Trans Neural Syst Rehabil Eng. 2004 Sep;12(3):349-59
pubmed: 15473198
Biomed Mater Eng. 2015;26 Suppl 1:S757-66
pubmed: 26406072