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JRM Vol.32 No.5 pp. 903-910
doi: 10.20965/jrm.2020.p0903
(2020)

Paper:

A Sliding Mode Controller Using an LS-SVM Model for a Water-Hydraulic Artificial Rubber Muscle

Takahiro Kosaki, Yuta Kawahara, and Shigang Li

Department of Systems Engineering, Graduate School of Information Sciences, Hiroshima City University
3-4-1 Ozuka-higashi, Asaminami-ku, Hiroshima 731-3194, Japan

Received:
March 19, 2020
Accepted:
July 7, 2020
Published:
October 20, 2020
Keywords:
water-hydraulic artificial rubber muscle, least squares support vector machine, hysteresis, sliding mode control
Abstract
A Sliding Mode Controller Using an LS-SVM Model for a Water-Hydraulic Artificial Rubber Muscle

Sliding mode control system with an LS-SVM model

We describe a sliding mode controller design for an artificial rubber muscle driven by tap-water pressure. The hysteretic characteristics of this water-hydraulic artificial rubber muscle (WARM) often deteriorate its control accuracy. To cope with this complicated hysteresis, a modeling approach based on the least squares support vector machine (LS-SVM) with nonlinear kernel functions is first applied to a WARM. By employing this LS-SVM-based WARM model, a sliding mode controller is then derived for the WARM drive system. We verify the control performance of the proposed controller and compare its tracking accuracy with our previously developed controller through experiments.

Cite this article as:
T. Kosaki, Y. Kawahara, and S. Li, “A Sliding Mode Controller Using an LS-SVM Model for a Water-Hydraulic Artificial Rubber Muscle,” J. Robot. Mechatron., Vol.32, No.5, pp. 903-910, 2020.
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Last updated on Dec. 01, 2020