Robust Super-Twisting Sliding Control of PAM- actuated Manipulator Based on Perturbation Observer
This paper addresses the tracking control problem of a single-arm manipulator actuated by Pneumatic Artificial Muscle (PAM) subjected to perturbation in parameters. The super-twisting sliding-mode control (STSMC) has been designed for the PAM system and the stability analysis has been presented to p...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2020-01-01
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| Series: | Cogent Engineering |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/23311916.2020.1858393 |