Model-Free Adaptive Iterative Learning Control for A Pneumatic Muscle-Driven Robot

被引：0
|
作者：
Zhang, Xiong [1 ]
Hu, Jiwei [1 ]
机构：
[1] Wuhan Univ Technol, Sch Informat Engn, Wuhan 430070, Hubei, Peoples R China
来源：
PROCEEDINGS OF 2019 IEEE 3RD INFORMATION TECHNOLOGY, NETWORKING, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (ITNEC 2019) | 2019年
基金：
中国国家自然科学基金;
关键词：
Pneumatic Muscle; iterative learning control; the model-free self-adaptive control;
D O I：
10.1109/itnec.2019.8729013
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is based on pneumatic muscles.The pneumatic muscles have the characteristics of nonlinear, difficult modeling and repeated training of the aerodynamic muscles. Aiming at these characteristics and precise tracking of the training trajectory ,the model-free adaptive iterative learning control method for the pneumatic muscle is proposed. The adaptive iterative learning pneumatic muscle control method only designs the iterative learning law according to the input and output information during the iterative operation of the system, and achieves progressive tracking of the desired track of the pneumatic muscle.
引用
收藏
页码：2246 / 2249
页数：4
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