A. Description
This video shows the behaviour of a planar manipulator actuated by Pleated Pneumatic Artificial muscles when controlled by a PID + gravity compensation controller (only step response shown) and when controlled by a Proxy-Based Sliding Mode controller (step responses and tracking shown). It also shows how the Proxy-Based Sliding Mode controller reacts to major disturbances and impacts on the system while it is operating.

B. Player information
This file requires Windows Media Player version 10 or higher.

C. Contact information
For more information, please contact Michael Van Damme by email at michael.vandamme@vub.ac.be or by regular mail at the following address:

Michael Van Damme
Vrije Universiteit Brussel -- IR-MECH
Pleinlaan 2
B-1050 Brussels
Belgium


Attachment filename: 0652_VI.mpg (4508700 Bytes)