Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

Ammar Al-Jodah, Laith Khames

Research output: Contribution to journalArticlepeer-review


In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.
Original languageEnglish
Pages (from-to)159-172
JournalJournal of Engineering
Issue number1
Publication statusPublished - 2018
Externally publishedYes


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