Tracking control of a 3-DOF rehabilitation robot actuated by pneumatic muscle actuators using adaptive self-organising fuzzy sliding mode control
Source: International Journal of Intelligent Systems Technologies and Applications, Volume 10, Number 1, January 2011 , pp. 65-91(27)
Publisher: Inderscience Publishers
Abstract:The action of a pneumatic muscle actuator (PMA) is very similar to that of animal skeletal muscle. It also has other advantages such as high power/weight ratio, high power/volume ratio, low price, little maintenance needed, great compliance and inherent safety. Therefore, it can be suitably applied to rehabilitation engineering for persons with neuromuscular or musculoskeletal pathologies affecting extremity functions. However, excellent control performance can hardly be achieved by classical control methods because gas compression and non-linear elasticity of bladder containers cause parameter variations. An adaptive self-organising fuzzy sliding mode control (ASOFSMC) is developed in this study to improve end-effector tracking performance. The use of a fuzzy sliding surface can reduce the number of fuzzy rules required. A self-organising learning mechanism is employed to modify online fuzzy rules. An adaptive law is adopted to adjust scaling factors. Finally, Lyapunov theorem is employed to prove the stability of the ASOFSMC. Experimental results show that this control strategy can achieve excellent tracking performance.
Keywords: COMPUTING AND MATHEMATICS; Computing Science, Applications and Software; SCIENCE, ENGINEERING AND TECHNOLOGY; Electronic Systems, Control and Artificial Intelli; Materials and Manufacturing; Systems Engineering
Document Type: Research article
Publication date: 2011-01-01
- Intelligent systems refer broadly to computer embedded or controlled systems, machines and devices that possess a certain degree of intelligence. International Journal of Intelligent Systems Technologies and Applications, a peer-reviewed double-blind refereed journal, publishes original papers featuring innovative and practical technologies related to the design and development of intelligent systems. Its coverage also includes papers on intelligent systems applications in areas such as manufacturing, bioengineering, agriculture, services, home automation and appliances, medical robots and robotic rehabilitations, space exploration, etc.
- Information for Authors
- Submit a Paper
- Subscribe to this Title
- Terms & Conditions
- ingentaconnect is not responsible for the content or availability of external websites