Adaptive Twist Sliding Mode Control Based Chatter Reduction For Pneumatic Artificial Muscles Robot Arm

In this note we present an adaptive gain twisting sliding mode control strategy achieving chatter alleviation for the control of pneumatic artificial muscles robot arm. The key-point of the paper relies on a simple modification of the twisting algorithm where the control action is proportional to the desired sliding surface and its derivative instead of the sign of it, then the adaptive gain twist control law, continuously drives the sliding surface and its derivative to a predefined domain in finite time in the presence of bounded disturbance with unknown boundary. The derivation and the proof of the adaptation algorithm are derived from the proposed lyapunov function, and the adaptation law doesn't overestimate the values of the control gain. The efficiency of the controller is evaluated through simulation results.