Chatter Reduction in an Artificial Muscles robot Application

Abstract

We are concerned with the control of a 3-DOF robot actuated by pneumatic rubber muscles. The system is highly non-linear and somehow difficult to model; variable structure system control imposes itself as a very relevant type of control. This paper presents two types of robust controls. One uses a classical variable structure (CVS) control associated to a PID control; the other is a derivative control. Both controllers are implemented on a robot driven by artificial rubber muscles. The goal is the comparison of the two controllers in their ability to reduce chatter. Experimental results are presented and discussed.