期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 64, 期 4, 页码 3329-3337出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2016.2573266
关键词
Adaptive control; nonlinear systems; pneumatic muscle (PM) actuator; servomechanism; uncertain systems
资金
- 973 Project of China [2015CB057304, 2011CB013301]
- National Natural Science Foundation of China [51335004, 61322304]
- Guangdong Innovative and Entepreneurial Research Team Program [2014ZT05G304]
Precise control of a pneumatic muscle actuator is a challenging problem, due to its nonlinear and time-varying characteristics. Specifically, it can be modeled as parallel connection of a nonlinear friction force, a nonlinear spring, and a nonlinear contractile element. It is difficult to identify the coefficients associated with these elements within a certain precision as they change along the course of continuous use. In this paper, we introduce a novel adaptive servomechanism controller and rigorously prove that the trajectory tracking can be achieved with a desirable error bound. Moreover, an experiment platform is set up to demonstrate the effectiveness of the proposed controller in real applications. In particular, the proposed adaptive controller significantly improves the tracking accuracy and achieves better performance than nonadaptive and PID controllers and other existing controllers in the literature.
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