Sliding mode control of a pneumatic muscle actuator system with a PWM strategy

In this paper, a sliding mode control (SMC) strategy is applied to a pulse width modulation (PWM)-driven pneumatic muscle actuator system using high speed on/off solenoid valves. Servo-pneumatic systems with PWM-driven on/off valves can be used instead of expensive servo valves to decrease complexity, weight, and cost of servo-pneumatic systems. Due to the highly nonlinear nature of pneumatics, the system is difficult to model accurately which …