Adaptive Robust Control of One-Link Joint Actuated by Pneumatic Artificial Muscles

Zhang, Lihua; Xie, Jing; Lu, Dan

doi:10.1109/icbbe.2007.306

Cited by 11 publications

(10 citation statements)

References 7 publications

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“…By applying the Mean Value Theorem, an upper bound can be developed for the expression in (14) as (16) where the bounding function is a positive, strictly increasing function, 5 and is defined as (17) From Assumptions 1 and 2, the following inequality can be developed based on the expression in (15): (18) where , are known positive constants.…”

Section: Control Developmentmentioning

confidence: 99%

“…7 Young's Inequality can be applied to select terms in (27) as (28) To facilitate the subsequent stability analysis, let be selected as , where are positive gain constants. Utilizing (28), completing the squares on and grouping terms, the expression in (27) can be upper bounded by (29) Provided the sufficient conditions in (24) are satisfied, (17) and (19) can be used to conclude that (30) where is defined as , was defined in (24), and is a continuous, positive semi-definite function for some positive constant . The inequalities in (23) and (30) can be used to show that in , hence, in .…”

Section: Stability Analysismentioning

confidence: 99%

“…While each of the mentioned contributions developed saturated controllers with asymptotic tracking regulation, previous results have not been developed that include both uncertain dynamics and additive unmodeled disturbances. Control methods which include these considerations were developed by authors in [16] and [17] via saturated adaptive robust control (SARC) algorithms, which yield ultimately bounded tracking results.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Saturated RISE Feedback Control for a Class of Second-Order Nonlinear Systems

Fischer

Kan

Kamalapurkar

et al. 2014

IEEE Trans. Automat. Contr.

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Abstract-A saturated controller is developed for a class of uncertain, second-order, nonlinear systems which includes time-varying and nonlinearly parameterized functions with bounded disturbances using a continuous control law with smooth saturation functions. Based on the robust integral of the sign of the error (RISE) control methodology, the developed controller is able to utilize the benefits of high gain control strategies while guaranteeing saturation limits are not surpassed. The bounds on the control are known a priori and can be adjusted by changing the feedback gains. The saturated controller yields asymptotic tracking despite model uncertainty and added disturbances in the dynamics. Experimental results using a two-link robot manipulator demonstrate the performance of the developed controller.

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Section: Control Developmentmentioning

confidence: 99%

Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Saturated RISE Feedback Control for a Class of Second-Order Nonlinear Systems

Fischer

Kan

Kamalapurkar

et al. 2014

IEEE Trans. Automat. Contr.

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“…However, the static hysteresis compensator is not robust enough to compensate the nonlinearity and does not offer a promising performance in the higher tracking frequency. Over the years, nonlinear model-based control approaches, such as sliding mode control (SMC) [16]- [19], backstepping control [20], [21], saturated adaptive robust control [22], switching model predictive control [23], and variable structure control [24] have become another important solutions to achieve high positioning performance for PAM systems. Aschemann and Schindele [16] have successfully proposed SMC including a nonlinear disturbance observer for a high speed linear axis driven by pneumatic muscles actuated system.…”

Section: Introductionmentioning

confidence: 99%

Practical Control Strategy for Positioning Control of Pneumatic Artificial Muscles Driven Stage: Improved NCTF Control

et al. 2019

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This paper presents a practical control strategy for motion control of a pneumatic muscle actuated the system. Pneumatic artificial muscle (PAM) exhibits strong nonlinear characteristics which are difficult to be modeled precisely, and these characteristics have led to low controllability and difficult to achieve high precision control performance. This paper aims to propose nominal characteristic trajectory following (NCTF) control system, which emphasizes simple design procedure without the need of exact model parameters, and yet is able to demonstrate high performance in both point-to-point and continuous motions. However, the conventional NCTF controller does not offer a promising positioning performance with the PAM mechanisms, where it exhibits large vibration in the steady state before the mechanism stopping and tends to reduce the motion accuracy. Therefore, the objective of this study is to improve the conventional NCTF controller by removing the actual velocity feedback to eliminate vibration problem, added an acceleration feedback compensator to the plant model, and a reference rate feedforward to solve low damping characteristic of the PAM mechanism simultaneously improve tracking following characteristic. The design procedure of the improved NCTF controller remains easy and straightforward. The effectiveness of the proposed controller is verified experimentally and compared with the conventional NCTF and classical PI controllers in the performances of positioning and continuous motion. The improved NCTF controller reduces the positioning error up to 90% and 63% as benchmarked to the PI and conventional NCTF controllers, respectively, while it reduces up to 92% (PI) and 95% (NCTF) in the tracking error. INDEX TERMS Motion control, NCTF control, nonlinear system, pneumatic artificial muscle, practical controller.

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“…Among the control approaches using the input-output model are adaptive control [10], [16], H ∞ control [17], variable structure control [18], and neural network control [11]. For the dynamic models constructed from static models, sliding-mode control [19], PID control [20], [21], saturated adaptive robust control [22], active disturbance rejection control [23], and nonlinear predictive control [24] have been proposed for different kinds of robotic manipulators with PMs in different configurations. For most of the aforementioned works, due to the lack of rigorous stability analysis, the performance of the closed-loop system is not theoretically guaranteed.…”

mentioning

confidence: 99%

Adaptive Servomechanism of Pneumatic Muscle Actuators With Uncertainties

Zhu

Shi

Chen

et al. 2017

IEEE Trans. Ind. Electron.

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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 non-adaptive and PID controllers and other existing controllers in literature.

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Adaptive Robust Control of One-Link Joint Actuated by Pneumatic Artificial Muscles

Cited by 11 publications

References 7 publications

Saturated RISE Feedback Control for a Class of Second-Order Nonlinear Systems

Saturated RISE Feedback Control for a Class of Second-Order Nonlinear Systems

Practical Control Strategy for Positioning Control of Pneumatic Artificial Muscles Driven Stage: Improved NCTF Control

Adaptive Servomechanism of Pneumatic Muscle Actuators With Uncertainties

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