Design of A Variable Structure Controller To Pneumatic Muscle Actuator Using Moving Sliding Surfaces

In this paper, a Variable Structure Controller (VSC) based on Moving Sliding Surface(MSS) is designed to drive Pneumatic Muscle Actuator (PMA). In contrast to conventional Sliding Mode Control (SMC), the new method ensures the existence of sliding condition from initial state. So robustness is achieved for all times. Simulation results show that using this approach, the reaching time and tracking error can be reduced significantly