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首页> 外文会议>International Conference on Fluid Power Transmission and Control(ICFP' 2005); 20050405-08; Hangzhou(CN) >Fuzzy Variable Structure Position Control of a Pneumatic Muscle Actuator System
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Fuzzy Variable Structure Position Control of a Pneumatic Muscle Actuator System

机译：气动肌肉执行器系统的模糊变结构位置控制

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摘要

The purpose of this paper is to apply the fuzzy variable structure control (FVSC) method to control the position of pneumatic muscle actuator (PMA). PMA undergoes disturbances that don't satisfy the matching conditions. General variable structure control (VSC) approach leads to a disturbance-contaminated sliding surface and loses the disturbance rejection attribute. In this paper, a two-folded sliding modes approach is employed to resolve this problem. Integration of the two layers of sliding surface yields a single switching and discontinuous surface, on which the unmatched disturbances can be rejected. However, the switching surface gives rise to the undesirable "chattering" of the control input. Fuzzy theory is used to overcome the problem. The controller is designed by using Lyapunov stability theory. The effectiveness of the proposed control approach is demonstrated by experiment. The results are shown to be accurate, and robust to changes in payload and supply pressure.
机译：本文的目的是应用模糊可变结构控制（FVSC）方法来控制气动肌肉执行器（PMA）的位置。 PMA受到不满足匹配条件的干扰。通用可变结构控制（VSC）方法会导致受污染的滑动表面，并失去抗扰性属性。在本文中，采用了两重滑模方法来解决这个问题。两层滑动表面的结合产生了一个单一的开关和不连续的表面，在该表面上可以消除无与伦比的干扰。然而，开关表面引起控制输入的不希望的“抖动”。模糊理论被用来克服这个问题。控制器采用李雅普诺夫稳定性理论设计。实验证明了所提出的控制方法的有效性。结果表明是准确的，并且对有效载荷和供应压力的变化具有鲁棒性。

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