International Applied Mechanics

, Volume 44, Issue 10, pp 1191–1199 | Cite as

Sliding mode control of a “Soft” 2-DOF Planar Pneumatic Manipulator

  • M. Van Damme
  • B. Vanderborght
  • P. Beyl
  • R. Versluys
  • I. Vanderniepen
  • R. Van Ham
  • P. Cherelle
  • F. Daerden
  • D. Lefeber

This paper presents a sliding mode controller for a “Soft” 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed


Soft 2-DOF planar pneumatic manipulator sliding mode controller artificial muscle actuator 


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Copyright information

© Springer Science+Business Media, Inc. 2008

Authors and Affiliations

  • M. Van Damme
    • 1
  • B. Vanderborght
    • 1
  • P. Beyl
    • 1
  • R. Versluys
    • 1
  • I. Vanderniepen
    • 1
  • R. Van Ham
    • 1
  • P. Cherelle
    • 1
  • F. Daerden
    • 1
  • D. Lefeber
    • 1
  1. 1.Robotics and Multibody Mechanics Research Group Department of Mechanical EngineeringVrije Universiteit Pleinlaan 2BrusselBelgium

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