A model-based sliding-mode tracking controller for pneumatic muscle actuated continuum arms

Fei Meng; Yueyong Lv; Guangfu Ma; Yunfei Zhu

doi:10.1109/IMCCC.2018.00138

A model-based sliding-mode tracking controller for pneumatic muscle actuated continuum arms

Fei Meng
, Yueyong Lv
, Guangfu Ma
, Yunfei Zhu

School of Astronautics

Harbin Institute of Technology
China Aerospace Science and Technology Corporation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Pneumatic muscle actuator (PMA) multisection continuum arms are a class of continuum robotic manipulator which can bend and elongate with high flexibility. It presents challenges on kinematic modeling, dynamics modeling, and control. According to model shape functions, a modal kinematic model and a spatial dynamic model with numerical stability, we develop a model-based sliding mode controller used to demon-strate the effectiveness of these models and track desired trajec-tories precisely.

Original language	English
Title of host publication	Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018
Editors	Jun-Bao Li
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	636-640
Number of pages	5
ISBN (Electronic)	9781538682463
DOIs	https://doi.org/10.1109/IMCCC.2018.00138
State	Published - Jul 2018
Event	8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018 - Harbin, Heilongjiang, China Duration: 19 Jul 2018 → 21 Jul 2018

Publication series

Name	Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018

Conference

Conference	8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018
Country/Territory	China
City	Harbin, Heilongjiang
Period	19/07/18 → 21/07/18

Keywords

Continuum arms
Sliding-mode control

Access to Document

10.1109/IMCCC.2018.00138

Cite this

Meng, F., Lv, Y., Ma, G., & Zhu, Y. (2018). A model-based sliding-mode tracking controller for pneumatic muscle actuated continuum arms. In J.-B. Li (Ed.), Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018 (pp. 636-640). Article 9045037 (Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IMCCC.2018.00138

Meng, Fei ; Lv, Yueyong ; Ma, Guangfu et al. / A model-based sliding-mode tracking controller for pneumatic muscle actuated continuum arms. Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018. editor / Jun-Bao Li. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 636-640 (Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018).

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title = "A model-based sliding-mode tracking controller for pneumatic muscle actuated continuum arms",

abstract = "Pneumatic muscle actuator (PMA) multisection continuum arms are a class of continuum robotic manipulator which can bend and elongate with high flexibility. It presents challenges on kinematic modeling, dynamics modeling, and control. According to model shape functions, a modal kinematic model and a spatial dynamic model with numerical stability, we develop a model-based sliding mode controller used to demon-strate the effectiveness of these models and track desired trajec-tories precisely.",

keywords = "Continuum arms, Sliding-mode control",

author = "Fei Meng and Yueyong Lv and Guangfu Ma and Yunfei Zhu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018 ; Conference date: 19-07-2018 Through 21-07-2018",

year = "2018",

month = jul,

doi = "10.1109/IMCCC.2018.00138",

language = "英语",

series = "Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "636--640",

editor = "Jun-Bao Li",

booktitle = "Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018",

address = "美国",

}

Meng, F, Lv, Y, Ma, G & Zhu, Y 2018, A model-based sliding-mode tracking controller for pneumatic muscle actuated continuum arms. in J-B Li (ed.), Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018., 9045037, Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 636-640, 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018, Harbin, Heilongjiang, China, 19/07/18. https://doi.org/10.1109/IMCCC.2018.00138

A model-based sliding-mode tracking controller for pneumatic muscle actuated continuum arms. / Meng, Fei; Lv, Yueyong; Ma, Guangfu et al.
Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018. ed. / Jun-Bao Li. Institute of Electrical and Electronics Engineers Inc., 2018. p. 636-640 9045037 (Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ma, Guangfu

AU - Zhu, Yunfei

PY - 2018/7

Y1 - 2018/7

N2 - Pneumatic muscle actuator (PMA) multisection continuum arms are a class of continuum robotic manipulator which can bend and elongate with high flexibility. It presents challenges on kinematic modeling, dynamics modeling, and control. According to model shape functions, a modal kinematic model and a spatial dynamic model with numerical stability, we develop a model-based sliding mode controller used to demon-strate the effectiveness of these models and track desired trajec-tories precisely.

AB - Pneumatic muscle actuator (PMA) multisection continuum arms are a class of continuum robotic manipulator which can bend and elongate with high flexibility. It presents challenges on kinematic modeling, dynamics modeling, and control. According to model shape functions, a modal kinematic model and a spatial dynamic model with numerical stability, we develop a model-based sliding mode controller used to demon-strate the effectiveness of these models and track desired trajec-tories precisely.

KW - Continuum arms

KW - Sliding-mode control

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DO - 10.1109/IMCCC.2018.00138

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AN - SCOPUS:85083498194

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BT - Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018

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Y2 - 19 July 2018 through 21 July 2018

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Meng F, Lv Y, Ma G, Zhu Y. A model-based sliding-mode tracking controller for pneumatic muscle actuated continuum arms. In Li JB, editor, Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 636-640. 9045037. (Proceedings - 8th International Conference on Instrumentation and Measurement, Computer, Communication and Control, IMCCC 2018). doi: 10.1109/IMCCC.2018.00138

A model-based sliding-mode tracking controller for pneumatic muscle actuated continuum arms

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