{"title":"基于模型的气动肌肉驱动连续臂滑模跟踪控制器","authors":"Fei Meng, Yueyong Lv, G. Ma, Yunfei Zhu","doi":"10.1109/IMCCC.2018.00138","DOIUrl":null,"url":null,"abstract":"Pneumatic muscle actuator (PMA) multisection continuum arms are a class of continuum robotic manipulator which can bend and elongate with high flexibility. It presents challenges on kinematic modeling, dynamics modeling, and control. According to model shape functions, a modal kinematic model and a spatial dynamic model with numerical stability, we develop a model-based sliding mode controller used to demon-strate the effectiveness of these models and track desired trajec-tories precisely.","PeriodicalId":328754,"journal":{"name":"2018 Eighth International Conference on Instrumentation & Measurement, Computer, Communication and Control (IMCCC)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"A Model-Based Sliding-Mode Tracking Controller for Pneumatic Muscle Actuated Continuum Arms\",\"authors\":\"Fei Meng, Yueyong Lv, G. Ma, Yunfei Zhu\",\"doi\":\"10.1109/IMCCC.2018.00138\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Pneumatic muscle actuator (PMA) multisection continuum arms are a class of continuum robotic manipulator which can bend and elongate with high flexibility. It presents challenges on kinematic modeling, dynamics modeling, and control. According to model shape functions, a modal kinematic model and a spatial dynamic model with numerical stability, we develop a model-based sliding mode controller used to demon-strate the effectiveness of these models and track desired trajec-tories precisely.\",\"PeriodicalId\":328754,\"journal\":{\"name\":\"2018 Eighth International Conference on Instrumentation & Measurement, Computer, Communication and Control (IMCCC)\",\"volume\":\"66 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 Eighth International Conference on Instrumentation & Measurement, Computer, Communication and Control (IMCCC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IMCCC.2018.00138\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 Eighth International Conference on Instrumentation & Measurement, Computer, Communication and Control (IMCCC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IMCCC.2018.00138","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A Model-Based Sliding-Mode Tracking Controller for Pneumatic Muscle Actuated Continuum Arms
Pneumatic muscle actuator (PMA) multisection continuum arms are a class of continuum robotic manipulator which can bend and elongate with high flexibility. It presents challenges on kinematic modeling, dynamics modeling, and control. According to model shape functions, a modal kinematic model and a spatial dynamic model with numerical stability, we develop a model-based sliding mode controller used to demon-strate the effectiveness of these models and track desired trajec-tories precisely.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
