Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic Artificial Muscles
Pneumatic artificial muscles (PAMs) are flexible actuators that can be contracted or expanded by applying air pressure. They are used in robotics, prosthetics, and other applications requiring flexible and compliant actuation. PAMs are basically designed to mimic the function of biological muscles,...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-01-01
|
| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/10/1/37 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832588986004013056 |
|---|---|
| author | Hesam Khajehsaeid Ali Soltani Vahid Azimirad |
| author_facet | Hesam Khajehsaeid Ali Soltani Vahid Azimirad |
| author_sort | Hesam Khajehsaeid |
| collection | DOAJ |
| description | Pneumatic artificial muscles (PAMs) are flexible actuators that can be contracted or expanded by applying air pressure. They are used in robotics, prosthetics, and other applications requiring flexible and compliant actuation. PAMs are basically designed to mimic the function of biological muscles, providing a high force-to-weight ratio and smooth, lifelike movement. Inflation and deflation of these muscles can be controlled rapidly, allowing for fast actuation. In this work, a continuum mechanics-based model is developed to predict the output parameters of PAMs, like actuation force. Comparison of the model results with experimental data shows that the model efficiently predicts the mechanical behaviour of PAMs. Using the actuation force–air pressure–contraction relation provided by the proposed mechanical model, a dynamic model is derived for a multi-link PAM-actuated robot manipulator. An adaptive fixed-time fast terminal sliding mode control is proposed to track the desired joint position trajectories despite the model uncertainties and external disturbances with unknown magnitude bounds. Furthermore, the performance of the proposed controller is compared with an adaptive backstepping fast terminal sliding mode controller through numerical simulations. The simulations show faster convergence and more precise tracking for the proposed controller. |
| format | Article |
| id | doaj-art-805331705a3a43a898fde34e7c3bd965 |
| institution | Kabale University |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-805331705a3a43a898fde34e7c3bd9652025-01-24T13:24:41ZengMDPI AGBiomimetics2313-76732025-01-011013710.3390/biomimetics10010037Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic Artificial MusclesHesam Khajehsaeid0Ali Soltani1Vahid Azimirad2Warwick Manufacturing Group, The University of Warwick, Coventry CV4 7EQ, UKSchool of Electronics and Computer Science, University of Southampton, Southampton SO17 1BJ, UKSchool of Engineering, University of Kent, Canterbury CT2 7NZ, UKPneumatic artificial muscles (PAMs) are flexible actuators that can be contracted or expanded by applying air pressure. They are used in robotics, prosthetics, and other applications requiring flexible and compliant actuation. PAMs are basically designed to mimic the function of biological muscles, providing a high force-to-weight ratio and smooth, lifelike movement. Inflation and deflation of these muscles can be controlled rapidly, allowing for fast actuation. In this work, a continuum mechanics-based model is developed to predict the output parameters of PAMs, like actuation force. Comparison of the model results with experimental data shows that the model efficiently predicts the mechanical behaviour of PAMs. Using the actuation force–air pressure–contraction relation provided by the proposed mechanical model, a dynamic model is derived for a multi-link PAM-actuated robot manipulator. An adaptive fixed-time fast terminal sliding mode control is proposed to track the desired joint position trajectories despite the model uncertainties and external disturbances with unknown magnitude bounds. Furthermore, the performance of the proposed controller is compared with an adaptive backstepping fast terminal sliding mode controller through numerical simulations. The simulations show faster convergence and more precise tracking for the proposed controller.https://www.mdpi.com/2313-7673/10/1/37pneumatic artificial musclecontinuum mechanicssliding mode controlfixed timefast terminal |
| spellingShingle | Hesam Khajehsaeid Ali Soltani Vahid Azimirad Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic Artificial Muscles Biomimetics pneumatic artificial muscle continuum mechanics sliding mode control fixed time fast terminal |
| title | Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic Artificial Muscles |
| title_full | Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic Artificial Muscles |
| title_fullStr | Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic Artificial Muscles |
| title_full_unstemmed | Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic Artificial Muscles |
| title_short | Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic Artificial Muscles |
| title_sort | design of an adaptive fixed time fast terminal sliding mode controller for multi link robots actuated by pneumatic artificial muscles |
| topic | pneumatic artificial muscle continuum mechanics sliding mode control fixed time fast terminal |
| url | https://www.mdpi.com/2313-7673/10/1/37 |
| work_keys_str_mv | AT hesamkhajehsaeid designofanadaptivefixedtimefastterminalslidingmodecontrollerformultilinkrobotsactuatedbypneumaticartificialmuscles AT alisoltani designofanadaptivefixedtimefastterminalslidingmodecontrollerformultilinkrobotsactuatedbypneumaticartificialmuscles AT vahidazimirad designofanadaptivefixedtimefastterminalslidingmodecontrollerformultilinkrobotsactuatedbypneumaticartificialmuscles |