Abstract
In this paper, a sliding mode control (SMC) strategy is applied to a pulse width modulation (PWM)-driven pneumatic muscle actuator system using high speed on/off solenoid valves. Servo-pneumatic systems with PWM-driven on/off valves can be used instead of expensive servo valves to decrease complexity, weight, and cost of servo-pneumatic systems. Due to the highly nonlinear nature of pneumatics, the system is difficult to model accurately which leads to un-modelled dynamics and uncertainties. In this paper, a robust and nonlinear SMC approach is implemented in order to control the system with sufficient accuracy. A nonlinear model is developed in a single-input single-output form by studying the flow, pressure, and force dynamics of the system. The SMC strategy is applied to three different system configurations: single on/off valve, two on/off valves, and a servo valve. The performance and effectiveness of these configurations are investigated under sinusoidal tracking at different frequencies. The robust...
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