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首页> 外文期刊>International Journal of Control >Design and experimental evaluation of a dynamical adaptive backstepping-sliding mode control scheme for positioning of an antagonistically paired pneumatic artificial muscles driven actuating system
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Design and experimental evaluation of a dynamical adaptive backstepping-sliding mode control scheme for positioning of an antagonistically paired pneumatic artificial muscles driven actuating system

机译：抗动透视气动人工肌肉驱动致动系统定位动力自适应反向滑动模式控制方案的设计与实验评价

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摘要

Pneumatic artificial muscles (PAMs) are a class of pneumatic drives that have received considerable attention for applications related to bio-inspired robotics. Nevertheless, servo control of PAMs is challenging due to the compressibility and nonlinear flow characteristics of air, hysteresis behaviour as well as uncertainties present. In this paper, positioning of an antagonistically paired PAM with mass flow rate of compressed air regulated by a 5/3-way proportional directional valve and driven by a dynamical adaptive backstepping-sliding mode control (DAB-SMC) scheme is investigated. Implemented for the first time on a PAM-driven actuating system, derivation of this model-based nonlinear control scheme is presented first followed by experimental evaluation. Positioning performance is studied using a sinusoidal trajectory with tracking frequencies of 0.05, 0.1, 0.2 and 0.5 Hz, and a multiple-step polynomial input having step sizes of 0.7 degrees, 1.4 degrees, 2.9 degrees and 5.7 degrees. Over various operating conditions, average root mean square error value of 0.16 degrees and steady-state error value of 0.04 degrees are achieved for position tracking and regulating, respectively. The adaptive LuGre friction observer embedded in the control scheme effectively compensates hysteresis behaviour of the PAMs and helps to improve the performance. The proposed DAB-SMC scheme outperforms the classical SMC scheme by 33% in accuracy. The control scheme has also demonstrated a robust performance towards the uncertainties including loading. In addition, a slight performance compromise in both tracking and regulating tasks was observed, when the 5/3-way proportional valve is replaced by cost-effective 2/2-way pulse width modulation controlled on-off valves.
机译：气动人工肌肉（PAM）是一类气动驱动器，对与生物启发机器人有关的申请，这一类受到相当关注的。尽管如此，由于空气，滞后行为的可压缩性和非线性流动特性以及存在的不确定性，旨在对PAM的伺服控制是挑战。在本文中，研究了通过由5/3向比例方向瓣膜调节的压缩空气质量流速的抗动透视PAM并由动态自适应反向滑动模式控制（DAB-SMC）方案驱动的压缩空气的质量流量。首先在PAM驱动的致动系统上首次实施，首先呈现这种基于模型的非线性控制方案的推导，然后进行实验评估。使用0.05,0.1,0.2和0.5Hz的跟踪频率的正弦轨迹研究了定位性能，以及具有0.7度，1.4度，2.9度和5.7度的步进尺寸的多步多项式输入。在各种操作条件下，对于位置跟踪和调节，实现了0.16度且稳态误差值0.04度的平均均方误差值。嵌入在控制方案中的自适应Lugre摩擦观察者有效补偿PAM的滞后行为，有助于提高性能。所提出的DAB-SMC方案的精度优于古典SMC方案33％。控制方案还对包括装载的不确定性的稳健性能表现出了强大的性能。此外，观察到在跟踪和调节任务中的轻微性能妥协，当通过成本效益的2/2路脉冲宽度调制控制的开关阀门取代了5/3路比例阀。

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