Theoretical Control-Centric Modeling for Precision Model-Based Sliding Mode Control of a Hydraulic Artificial Muscle Actuator

Slightam, Jonathon E.; Nagurka, Mark L.

doi:10.1115/1.4049565

Title: Theoretical Control-Centric Modeling for Precision Model-Based Sliding Mode Control of a Hydraulic Artificial Muscle Actuator

Journal Article · Mon Feb 08 00:00:00 EST 2021 · Journal of Dynamic Systems, Measurement, and Control

DOI:https://doi.org/10.1115/1.4049565· OSTI ID:1769902

Slightam, Jonathon E. ^[1]; Nagurka, Mark L. ^[2]

Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
Marquette Univ., Milwaukee, WI (United States)

Artificial muscles (AMs) typically rely on pneumatic sources of fluid power. The use of hydraulics can increase the power and force to weight and volume ratios of AM actuators. This paper develops a control-centric third-order single-input single-output (SISO) lumped-parameter dynamic model and sliding mode position controller based on Filippov's principle of equivalent dynamics for a braided hydraulic artificial muscle (HAM) actuator. The model predicts the nonlinear behavior of the HAM free contraction and captures the fluid and actuator nonlinear dynamic interactions in addition to the braid deformation. Model simulations are compared to experimental results for quasi-static pressurization, isometric pressurization, and open-loop square wave commands at 0.25, 0.5, and 1 Hz. Experiments of sine wave tracking at 0.25, 0.5, and 1 Hz and continuous square wave tracking at 0.067 Hz are conducted using a sliding mode controller (SMC) derived from the model. The SMC achieves a steady-state error of 6 μm at multiple setpoints within the actuator's 17 mm stroke. Compared to a proportional-integral-derivative (PID) controller, the SMC root-mean-square (RMS) error, mean error, and absolute maximum error are reduced on average by 53%, 61%, and 44%, respectively, demonstrating the benefit of model-based approaches for controlling HAMs.

View Accepted Manuscript (DOE)

Cite

Export

Save

Research Organization:: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

Sponsoring Organization:: USDOE National Nuclear Security Administration (NNSA)

Grant/Contract Number:: AC04-94AL85000

OSTI ID:: 1769902

Report Number(s):: SAND-2020-3775J; 685143

Journal Information:: Journal of Dynamic Systems, Measurement, and Control, Vol. 143, Issue 5; ISSN 0022-0434

Publisher:: ASMECopyright Statement

Country of Publication:: United States

Language:: English

References (26)

Measurement and modeling of McKibben pneumatic artificial muscles IEEE Transactions on Robotics and Automation, Vol. 12, Issue 1 https://doi.org/10.1109/70.481753	journal	January 1996
Design, Additive Manufacture, and Control of a Pneumatic MR-Compatible Needle Driver Comber, David B.; Slightam, Jonathon E.; Gervasi, Vito R. IEEE Transactions on Robotics, Vol. 32, Issue 1 https://doi.org/10.1109/TRO.2015.2504981	journal	February 2016
Development and testing of stiffness model for pneumatic artificial muscle Doumit, Marc; Leclair, Justin International Journal of Mechanical Sciences, Vol. 120 https://doi.org/10.1016/j.ijmecsci.2016.11.015	journal	January 2017
A Method of Designing and Fabricating Mckibben Muscles Driven by 7 MPa Hydraulics Iwata, Kazuhiro; Suzumori, Koichi; Wakimoto, Shuichi International Journal of Automation Technology, Vol. 6, Issue 4 https://doi.org/10.20965/ijat.2012.p0482	journal	July 2012
Hydraulic artificial muscles Tiwari, Rashi; Meller, Michael A.; Wajcs, Karl B. Journal of Intelligent Material Systems and Structures, Vol. 23, Issue 3 https://doi.org/10.1177/1045389X12438627	journal	February 2012
Design and Control of a Sleeve Muscle-Actuated Robotic Elbow Driver, Tad A.; Shen, Xiangrong Journal of Dynamic Systems, Measurement, and Control, Vol. 136, Issue 4 https://doi.org/10.1115/1.4026834	journal	April 2014
A High Performance Pneumatic Force Actuator System: Part II—Nonlinear Controller Design Richer, Edmond; Hurmuzlu, Yildirim Journal of Dynamic Systems, Measurement, and Control, Vol. 122, Issue 3 https://doi.org/10.1115/1.1286366	journal	June 1999
Design and Control of an Magnetic Resonance Compatible Precision Pneumatic Active Cannula Robot Comber, David B.; Barth, Eric J.; Webster, Robert J. Journal of Medical Devices, Vol. 8, Issue 1 https://doi.org/10.1115/1.4024832	journal	December 2013
Designing an Input-Linearized Adaptive Sliding Mode Coupled Nonlinear Integral Controller Dasmahapatra, Sibsankar; Saha, Rana; Mookherjee, Saikat IEEE/ASME Transactions on Mechatronics, Vol. 23, Issue 6 https://doi.org/10.1109/TMECH.2018.2870911	journal	December 2018
Nonlinear Control of Robotic Manipulators Driven by Pneumatic Artificial Muscles Robinson, Ryan M.; Kothera, Curt S.; Sanner, Robert M. IEEE/ASME Transactions on Mechatronics, Vol. 21, Issue 1 https://doi.org/10.1109/TMECH.2015.2483520	journal	February 2016
Experimental Characterization and Static Modeling of McKibben Actuators Kothera, Curt S.; Jangid, Mamta; Sirohi, Jayant Journal of Mechanical Design, Vol. 131, Issue 9 https://doi.org/10.1115/1.3158982	journal	August 2009
Theoretical Dynamic Modeling and Validation of Braided Pneumatic Artificial Muscles Slightam, Jonathon E.; Nagurka, Mark L. Journal of Dynamic Systems, Measurement, and Control, Vol. 142, Issue 3 https://doi.org/10.1115/1.4045475	journal	December 2019
Robust and Accurate Closed-Loop Control of McKibben Artificial Muscle Contraction with a Linear Single Integral Action Tondu, Bertrand Actuators, Vol. 3, Issue 2 https://doi.org/10.3390/act3020142	journal	June 2014
The effect of geometry and material properties on the performance of a small hydraulic McKibben muscle system Sangian, Danial; Naficy, Sina; Spinks, Geoffrey M. Sensors and Actuators A: Physical, Vol. 234 https://doi.org/10.1016/j.sna.2015.08.025	journal	October 2015
Reconsidering the McKibben muscle: Energetics, operating fluid, and bladder material Meller, Michael A.; Bryant, Matthew; Garcia, Ephrahim Journal of Intelligent Material Systems and Structures, Vol. 25, Issue 18 https://doi.org/10.1177/1045389X14549872	journal	September 2014
Thermally activated paraffin-filled McKibben muscles Sangian, Danial; Naficy, Sina; Spinks, Geoffrey M. Journal of Intelligent Material Systems and Structures, Vol. 27, Issue 18 https://doi.org/10.1177/1045389X16633766	journal	July 2016
Dynamic modeling of a pneumatic muscle actuator with two-direction motion Sarosi, J.; Biro, I.; Nemeth, J. Mechanism and Machine Theory, Vol. 85 https://doi.org/10.1016/j.mechmachtheory.2014.11.006	journal	March 2015
Braid Effects on Contractile Range and Friction Modeling in Pneumatic Muscle Actuators Davis, S.; Caldwell, Darwin G. The International Journal of Robotics Research, Vol. 25, Issue 4 https://doi.org/10.1177/0278364906063227	journal	April 2006
Variable stiffness Mckibben muscles with hydraulic and pneumatic operating modes Xiang, Chaoqun; Giannaccini, Maria Elena; Theodoridis, Theo Advanced Robotics, Vol. 30, Issue 13 https://doi.org/10.1080/01691864.2016.1154801	journal	April 2016
Using Feedback Linearization to Improve the Tracking Performance of a Linear Hydraulic-Actuator Manring, Noah D.; Muhi, Laheeb; Fales, Roger C. Journal of Dynamic Systems, Measurement, and Control, Vol. 140, Issue 1 https://doi.org/10.1115/1.4037285	journal	September 2017
Modeling and Implementation of the McKibben Actuator in Hydraulic Systems Thomalla, Steven D.; Van de Ven, James D. IEEE Transactions on Robotics, Vol. 34, Issue 6 https://doi.org/10.1109/TRO.2018.2864780	journal	December 2018
Effects of Bladder Geometry in Pneumatic Artificial Muscles Ball, Erick; Garcia, Ephrahim Journal of Medical Devices, Vol. 10, Issue 4 https://doi.org/10.1115/1.4033325	journal	August 2016
A proposal of a new rotational-compliant joint with oil-hydraulic McKibben artificial muscles Morita, Ryusuke; Nabae, Hiroyuki; Endo, Gen Advanced Robotics, Vol. 32, Issue 9 https://doi.org/10.1080/01691864.2018.1464946	journal	May 2018
High-Gain-Observer-Based Integral Sliding Mode Control for Position Tracking of Electrohydraulic Servo Systems Won, Daehee; Kim, Wonhee; Tomizuka, Masayoshi IEEE/ASME Transactions on Mechatronics, Vol. 22, Issue 6 https://doi.org/10.1109/TMECH.2017.2764110	journal	December 2017
Accounting for Elastic Energy Storage in McKibben Artificial Muscle Actuators Klute, Glenn K.; Hannaford, Blake Journal of Dynamic Systems, Measurement, and Control, Vol. 122, Issue 2 https://doi.org/10.1115/1.482478	journal	December 1998
Practical Tracking Control of Linear Motor With Adaptive Fractional Order Terminal Sliding Mode Control Sun, Guanghui; Ma, Zhiqiang IEEE/ASME Transactions on Mechatronics, Vol. 22, Issue 6 https://doi.org/10.1109/TMECH.2017.2766279	journal	December 2017

Similar Records

SU-F-J-10: Sliding Mode Control of a SMA Actuated Active Flexible Needle for Medical Procedures

Journal Article · Wed Jun 15 00:00:00 EDT 2016 · Medical Physics · OSTI ID:1769902

Podder, T

Multivariable control of vapor compression systems

Conference · Thu Jul 01 00:00:00 EDT 1999 · OSTI ID:1769902

He, X D; Liu, S; Asada, H H; +1 more

Experimental comparison of conventional and nonlinear model-based control of a mixing tank

Journal Article · Mon Nov 01 00:00:00 EST 1993 · Industrial and Engineering Chemistry Research; (United States) · OSTI ID:1769902

Haeggblom, K E

Related Subjects

42 ENGINEERING
Actuators
Braid (Textile)
Control equipment
Dynamics (Mechanics)
Muscle
Pressure
Sliding mode control
Stiffness
Errors
Modeling
Waves

Title: Theoretical Control-Centric Modeling for Precision Model-Based Sliding Mode Control of a Hydraulic Artificial Muscle Actuator

Citation Formats

References (26)

Similar Records

Related Subjects