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- W314515882 abstract "An artificial muscle actuator manipulator is a manipulator driven by an artificial muscle actuator. The artificial muscle actuator has less weight and more output than pneumatic or hydraulic cylinders. It also has good flexibility and a high level of safety. Therefore, wide ranges of applications in industry and medical assistance are expected. If the nonlinear dynamics of the actuator are neglected, it is considered difficult to achieve accurate and fast trajectory tracking. For trajectory control of the manipulator, a new control approach with excellent robustness involving a sliding mode control technique is proposed, in which the instability of the characteristics of artificial muscle and the unknown portions of the manipulator are taken into account. Further, by an analysis based on Lyapunov stability theory, the stability and tracking error convergence of this control method are analyzed. The stability of the tracking error closed loop system consisting of the proposed controller is proved. Also, in the case with external disturbance, the proposed control method is modified to provide a sliding mode control method for the case with external disturbance. Finally, the effectiveness of the method is demonstrated by the results of simulation experiments. © 2003 Wiley Periodicals, Inc. Electron Comm Jpn Pt 3, 86(11): 57–64, 2003; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ecjc.10046" @default.
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- W314515882 date "2002-03-01" @default.
- W314515882 modified "2023-09-23" @default.
- W314515882 title "A Sliding Mode Controller for Manipulator Driven by Artificial Muscle Actuator" @default.
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