Discrete-Time Fractional Order Integral Sliding Mode Control of an Antagonistic Actuator Driven by Pneumatic Artificial Muscles
Recently, pneumatic artificial muscles (PAMs), a lightweight and high-compliant actuator, have been increasingly used in assistive rehabilitation robots. PAM-based applications must overcome two inherent drawbacks. The first is the nonlinearity due to the compressibility of the air, and the second i...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-06-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/9/12/2503 |