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Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic Artificial Muscles

Khajehsaeid, Hesam, Soltani, Ali, Azimirad, Vahid (2025) Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic Artificial Muscles. Biomimetics, 10 (1). Article Number 37. ISSN 2313-7673. (doi:10.3390/biomimetics10010037) (KAR id:108503)

Abstract

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.

Item Type: Article
DOI/Identification number: 10.3390/biomimetics10010037
Uncontrolled keywords: pneumatic artificial muscle; continuum mechanics; sliding mode control; fixed time; fast terminal
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TJ Mechanical engineering and machinery
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Funders: University of Kent (https://ror.org/00xkeyj56)
SWORD Depositor: JISC Publications Router
Depositing User: JISC Publications Router
Date Deposited: 29 Jan 2025 15:22 UTC
Last Modified: 05 Feb 2025 14:36 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/108503 (The current URI for this page, for reference purposes)

University of Kent Author Information

Azimirad, Vahid.

Creator's ORCID: https://orcid.org/0000-0001-9967-1979
CReDIT Contributor Roles: Software, Formal analysis, Data curation, Visualisation, Writing - original draft, Validation, Writing - review and editing
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