Sliding Mode Controller and Filter Applied to a Pneumatic McKibben Muscle Actuator

In this paper, a robust and stable control strategy is applied to a Festo fluidic muscle actuator, with the objective of trajectory following control. A complete model of this system is not available which leads to unmodeled dynamics and uncertainties. Furthermore, full-state feedback is required for this type of control. However, in practice not all of the states are measurable or available due to cost or availability of instruments, thus a …