Admittance-Based Output Feedback Fuzzy Switching Control for PAM-Driven Parallel Robots via Nonsingular Terminal Sliding Mode

摘要

As a kind of soft actuator with inherent compliance, pneumatic artificial muscles (PAMs) have great application potential in robots. However, some challenging issues, such as high nonlinearities, sensor noises, and external disturbances, inevitably bring enormous difficulties to the accurate control of PAM-driven robots. To this end, this paper proposes an adaptive output feedback fuzzy switching control method for switched-form PAM-driven parallel robot systems, utilizing admittance models to rebuild compliant trajectories. Specifically, based on the nonrecursive high-order sliding mode (HOSM) differentiators with fixed-time convergence, unmeasurable velocity signals can be reconstructed to eliminate the adverse effects of measurement noises, decreasing the time delay of feedback signals. Moreover, a soft switching strategy is designed to flexibly adjust the switching weights and intervals of fuzzy structures, maintaining smooth control commands. Further, by introducing a nonsingular terminal sliding manifold, tracking errors can rapidly converge to a small neighborhood around the origins within a finite time, and all closed-loop variables are proved to be bounded through the Lyapunov stability theory. Finally, several groups of experiments are carried out on a self-built PAM-driven parallel robot to verify the effectiveness of the suggested method.