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Derivative control in sliding mode of a robot driven by artificial muscles

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3 Author(s)
Chettouh, M. ; Univ. Saad Dahleb, Blida ; Toumi, R. ; Hamerlain, M.

This paper shows a robust control of a robot arm actuated by pneumatic artificial antagonistic muscles. The goal is chatter reduction. In this work the control problem is considered using a generalised variable structure algorithm which is similar to a 2-sliding mode control applied on a system of relative degree one with respect to the sliding constraint. The paper purpose is an experimental study where the control performances are discussed

Published in:

E-Learning in Industrial Electronics, 2006 1ST IEEE International Conference on

Date of Conference:

18-20 Dec. 2006