Angle tracking adaptive output-feedback control for a pneumatic artificial muscle antagonistic joint

被引:0
作者
Qian, Feng [1 ]
Cai, Jianping [2 ]
Wang, Binrui [1 ]
Yu, Rui [1 ]
机构
[1] China Jiliang Univ, Mech & Elect Engn Dept, Hangzhou, Peoples R China
[2] Zhejiang Univ Water Resources & Elect Power, Elect Engn Dept, Hangzhou, Peoples R China
来源
2019 CHINESE AUTOMATION CONGRESS (CAC2019) | 2019年
关键词
pneumatic artificial muscle; adaptive control; output-feedback control; ACTUATORS;
D O I
10.1109/cac48633.2019.8996220
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, an adaptive Backstepping output-feedback control is proposed for a mathematical model of pneumatic artificial muscle antagonistic joint. The parameters of the mathematical model in this paper, which are different from other controls, are considered unknown and are estimated by the update laws. The amount of state in the actual system is difficult to measure, and the state estimation filters can be used to estimate other parameters. Finally, the simulation can verify the effectiveness of the output feedback control.
引用
收藏
页码:2516 / 2520
页数:5
相关论文
共 12 条
  • [1] Greer Joseph D, 2017, IEEE Int Conf Robot Autom, V2017, P5503, DOI 10.1109/ICRA.2017.7989648
  • [2] Kelasidi E., 2011, 2011 IEEE 20th International Symposium on Industrial Electronics (ISIE 2011), P1263, DOI 10.1109/ISIE.2011.5984340
  • [3] Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations
    Lilly, JH
    [J]. IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 2003, 11 (03) : 333 - 339
  • [4] Hysteresis modeling and tracking control for a dual pneumatic artificial muscle system using Prandtl-Ishlinskii model
    Lin, Chih-Jer
    Lin, Chii-Ruey
    Yu, Shen-Kai
    Chen, Chun-Ta
    [J]. MECHATRONICS, 2015, 28 : 35 - 45
  • [5] Cascade position control of a single pneumatic artificial muscle-mass system with hysteresis compensation
    Minh, Tri Vo
    Tjahjowidodo, Tegoeh
    Ramon, Herman
    Van Brussel, Hendrik
    [J]. MECHATRONICS, 2010, 20 (03) : 402 - 414
  • [6] Ramírez M, 2013, INT CONF ELECTR COMM, P1, DOI 10.1109/CONIELECOMP.2013.6525747
  • [7] Schindele D., 2008, BACKSTEPPING CONTR 1, V17
  • [8] Nonlinear PID control to improve the control performance of 2 axes pneumatic artificial muscle manipulator using neural network
    Tu Diep Cong Thanh
    Ahn, Kyoung Kwan
    [J]. MECHATRONICS, 2006, 16 (09) : 577 - 587
  • [9] Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer
    Xing, K.
    Huang, J.
    Wang, Y.
    Wu, J.
    Xu, Q.
    He, J.
    [J]. IET CONTROL THEORY AND APPLICATIONS, 2010, 4 (10) : 2058 - 2070
  • [10] Angle tracking of a pneumatic muscle actuator mechanism under varying load conditions
    Yang, Hongjiu
    Yu, Yang
    Zhang, Jinhui
    [J]. CONTROL ENGINEERING PRACTICE, 2017, 61 : 1 - 10