期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 25, 期 4, 页码 1756-1764出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.2997041
关键词
Robustness; Trajectory; Robust control; Tracking; Disturbance observers; Stability analysis; Muscles; Adaptive proxy-based robust control; pneumatic muscle actuator; two-phase stability analysis
类别
资金
- International Science and Technology Cooperation Program of China [2017YFE0128300]
- Fundamental Research Funds for the Central Universities [HUST: 2019kfyRCPY014]
- Research Fund of PLA of China [BWS17J024]
In pneumatic muscle actuators (PMAs)-driven robotic applications, there might exist unpredictable shocks which lead to the sudden change of desired trajectories and large tracking errors. This is dangerous for physical systems. In this article, we propose a novel adaptive proxy-based robust controller (APRC) for PMAs, which is effective in realizing a damped response and regulating the behaviors of the PMA via a virtual proxy. Moreover, the integration of the APRC and the nonlinear disturbance observer further handles the system uncertainties/disturbances and improves the system robustness. According to the Lyapunov theorem, the tracking states of the closed-loop PMA control system are proven to be globally uniformly ultimately bounded through two motion phases. Extensive experiments are conducted to verify the superior performance of our approach, in multiple tracking scenarios.
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