Applications of a Parallel Robot Actuated by Pneumatic Artificial Muscle Using Adaptive Fuzzy Sliding Mode Control Based on Orthogonal Functional Approximation

• Main Authors: You-Sheng Wu, 吳宥陞
• Other Authors: Ming-Kun Chang
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/97186919882347475964

碩士 === 聖約翰科技大學 === 自動化及機電整合研究所 === 101 === Pneumatic muscle actuators have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as actuators in robots, including industrial robots and therapy robots. It is difficult to achieve excellent control performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder containers causes parameter variations. The paper uses both adaptive fuzzy sliding mode control with orthogonally functional approximation (FA + AFSMC) and adaptive fuzzy sliding mode control (AFSMC) to control the parallel robot actuated by PAMs including angle tracking control about the X-axis, Y-axis and displacement tracking control about Z-axis. The proposed approach includes AFSMC which can modify the fuzzy rules on-line, and the FA technique is used to estimate unknown parameters. The experimental results indicate that steady-state errors of the angle tracking are reduced 0.225mm, sine wave tracking errors of the displacement are reduced 0.92% in maximum amplitude, and phase lag decreased 0.52 degrees. Therefore, the proposed approach has excellent tracking control performance.