Discrete-time sliding mode control with power rate exponential reaching law of a pneumatic artificial muscle system

This paper develops a discrete-time sliding mode controller with a power rate exponential reaching law approach to enhance the performance of a pneumatic artificial muscle system in both reaching time and chattering reduction. The proposed method dynamically adapts to the variation of the switching function, which is based on an exponential term and a power rate term of the sliding surface. Thus, the controlled system can achieve high tracking performance while still obtain chattering-free control. Moreover, the effectiveness of the proposed method is validated through multiple experimental tests, focused on a dual pneumatic artificial muscle system. Finally, experimental results show the effectiveness of the proposed approach in this paper.