Prescribed Performance Function Based Sliding Mode Control of Opposing Pneumatic Artificial Muscles to Enhance Safety

Van-Vuong  Dinh; Dinh-Hoang  Mai; Minh-Duc  Duong; Quy-Thinh  Dao

doi:10.6180/jase.202402_27(2).0013

Prescribed Performance Function Based Sliding Mode Control of Opposing Pneumatic Artificial Muscles to Enhance Safety

Van-Vuong Dinh^1,2, Dinh-Hoang Mai¹, Minh-Duc Duong¹, Quy-Thinh Dao¹This email address is being protected from spambots. You need JavaScript enabled to view it.

¹School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Dai Co Viet, Ha Noi, 11615, Vietnam

²Faculty of Electrical and Electronic Engineering, Hanoi College of High Technology, Ha Noi, 10000, Vietnam

Received: May 16, 2023
Accepted: June 26, 2023
Publication Date: July 7, 2023

Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

Download Citation: ||https://doi.org/10.6180/jase.202402_27(2).0013

The field of rehabilitation robotics has seen a significant increase in the utilization of Pneumatic Artificial Muscle (PAM)-based systems in recent years. These systems have demonstrated great potential in assisting and enhancing human movements and motor functions. However, as with any system that involves human interaction, safety is of the utmost importance. It is essential to ensure that the tracking error is kept within a safe range to prevent harm to people and equipment. This research proposes a control strategy that combines the exponential reaching law with a prescribed performance function to enhance safety in PAM-based rehabilitation robots. The prescribed performance function is designed to regulate the tracking error within predetermined limits during short and long-term operations, thereby mitigating large oscillations that may damage mechanical structures and patients. The experimental results indicate that the proposed controller demonstrated superior tracking accuracy and safety performance compared to traditional control methods. It is hoped that the findings of this study will contribute to developing safe and effective rehabilitation systems for patients in need.

Keywords: Pneumatic artificial muscle, Enhance Safety, Prescribed performance function, Discrete-time sliding mode control

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