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

页码：2516 / 2520

页数：5