A two-folded sliding modes approach ofpneumaticmuscleactuator (PMA) positioncontrolsystemwas proposed, and thecontrollerwas designed by using Lyapunovstabilitytheory.
Two: In the course of designing Stompy, the Project Hexapod crew developed a position-controlled hydraulic actuator capable of generating 18, 000 pounds of force with a two-foot stroke that's two orders of magnitude cheaper that comparable hardware.