Nonlinear control of a pneumatic muscle actuator: Backstepping vs. sliding-mode

P. Carbonell, Zhong-Ping Jiang, D. W. Repperger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper weighs up the pros and cons of three different tracking controllers for a Pneumatic Muscle Actuator: robust backstepping, adaptive backstepping and sliding-mode. Robustness is assured for three controllers in the presence of model uncertainties and external perturbations. Ultimate boundedness is proved for the robust and adaptive backstepping tracking controller. Exponential stability is proved for the sliding-mode tracking controller. The tracking is well achieved by the sliding-mode and the adaptive controller. On the contrary, the robust backstepping shows a noticeable tracking error. The sliding-mode leads to a high-frequency switching control law.

Original languageEnglish (US)
Title of host publicationIEEE Conference on Control Applications - Proceedings
Pages167-172
Number of pages6
StatePublished - 2001
EventProceedings of the 2001 IEEE International Conference on Control Applications CCA '01 - Mexico City, Mexico
Duration: Sep 5 2001Sep 7 2001

Other

OtherProceedings of the 2001 IEEE International Conference on Control Applications CCA '01
CountryMexico
CityMexico City
Period9/5/019/7/01

Fingerprint

Backstepping
Pneumatics
Muscle
Actuators
Controllers
Switching frequency
Asymptotic stability
Robustness (control systems)

Keywords

  • Adaptive control
  • Nonlinear control
  • Robust backstepping
  • Sliding-mode control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Carbonell, P., Jiang, Z-P., & Repperger, D. W. (2001). Nonlinear control of a pneumatic muscle actuator: Backstepping vs. sliding-mode. In IEEE Conference on Control Applications - Proceedings (pp. 167-172)

Nonlinear control of a pneumatic muscle actuator : Backstepping vs. sliding-mode. / Carbonell, P.; Jiang, Zhong-Ping; Repperger, D. W.

IEEE Conference on Control Applications - Proceedings. 2001. p. 167-172.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Carbonell, P, Jiang, Z-P & Repperger, DW 2001, Nonlinear control of a pneumatic muscle actuator: Backstepping vs. sliding-mode. in IEEE Conference on Control Applications - Proceedings. pp. 167-172, Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01, Mexico City, Mexico, 9/5/01.
Carbonell P, Jiang Z-P, Repperger DW. Nonlinear control of a pneumatic muscle actuator: Backstepping vs. sliding-mode. In IEEE Conference on Control Applications - Proceedings. 2001. p. 167-172
Carbonell, P. ; Jiang, Zhong-Ping ; Repperger, D. W. / Nonlinear control of a pneumatic muscle actuator : Backstepping vs. sliding-mode. IEEE Conference on Control Applications - Proceedings. 2001. pp. 167-172
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