New Sliding Mode Control for Pneumatic Muscle Actuator Joint Model via Delta Operator Approach

In this paper, a delta operator robust sliding mode controller is presented for pneumatic muscle actuator joint model. Sampling the model, a class of delta operator system with parameter uncertainty and exogenous disturbance is obtained. Sufficient LMI conditions are developed to guarantee the existence of the discrete linear sliding surfaces. By solving the conditions, a linear sliding surface is characterized and a robust sliding mode controller is designed. Based on a class of pneumatic muscle actuator joint model parameters, an example is given to illustrate the effectiveness of the developed techniques.