Please use this identifier to cite or link to this item: http://localhost/handle/Hannan/168662
Title: Adaptive Servomechanism of Pneumatic Muscle Actuators With Uncertainties
Authors: Lijun Zhu;Xianyi Shi;Zhiyong Chen;Hai-Tao Zhang;Cai-Hua Xiong
Year: 2017
Publisher: IEEE
Abstract: 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.
URI: http://localhost/handle/Hannan/168662
volume: 64
issue: 4
More Information: 3329,
3337
Appears in Collections:2017

Files in This Item:
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7479566.pdf2.48 MBAdobe PDF
Title: Adaptive Servomechanism of Pneumatic Muscle Actuators With Uncertainties
Authors: Lijun Zhu;Xianyi Shi;Zhiyong Chen;Hai-Tao Zhang;Cai-Hua Xiong
Year: 2017
Publisher: IEEE
Abstract: 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.
URI: http://localhost/handle/Hannan/168662
volume: 64
issue: 4
More Information: 3329,
3337
Appears in Collections:2017

Files in This Item:
File SizeFormat 
7479566.pdf2.48 MBAdobe PDF
Title: Adaptive Servomechanism of Pneumatic Muscle Actuators With Uncertainties
Authors: Lijun Zhu;Xianyi Shi;Zhiyong Chen;Hai-Tao Zhang;Cai-Hua Xiong
Year: 2017
Publisher: IEEE
Abstract: 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.
URI: http://localhost/handle/Hannan/168662
volume: 64
issue: 4
More Information: 3329,
3337
Appears in Collections:2017

Files in This Item:
File SizeFormat 
7479566.pdf2.48 MBAdobe PDF