Enhanced Adaptive Fuzzy Sliding Mode Control for Nonlinear Uncertain Serial Pneumatic Artificial Muscle (PAM) Robot System

摘要

This chapter proposes a new enhanced adaptive fuzzy sliding mode controller (EAFSMC) with its perfect suitability for use in the control of a highly nonlinear and uncertain serial pneumatic artificial muscle (PAM) robot. The critical proof of the stability and the convergence of the overall system is presented using Lyapunov stability principle. Simulation results of the proposed EAFSMC control, applied to a two-degree-of-freedom nonlinear serial PAM robot, are implemented, and we have evaluated their efficacy in maintaining Lyapunov stability and their good performance.