A Novel Adaptive Gain Integral Terminal Sliding Mode Control Scheme of a Pneumatic Artificial Muscle System With Time-Delay Estimation

This paper develops a novel adaptive gain integral terminal sliding mode control with time-delay estimation to enhance the control performance of a pneumatic artificial muscle system. The main contribution of the paper is that the proposed control method can enable the benefits of both terminal slid...

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Veröffentlicht in:	IEEE access 2019, Vol.7, p.141133-141143
Hauptverfasser:	Vo, Cong Phat, To, Xuan Dinh, Ahn, Kyoung Kwan
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control adaptive gain scheme Adaptive systems Algorithms Artificial muscles Control algorithms Control methods Control stability Control theory Convergence Delay Disturbances Estimation Integral terminal sliding mode control Integrals Muscles pneumatic artificial muscle Robust control Sliding mode control Stability analysis System dynamics time-delay estimation Tracking errors Uncertainty
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