2023
DOI: 10.1109/access.2023.3332138
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Error Tracking-Based Neuro-Adaptive Learning Control for Pneumatic Artificial Muscle Systems With Output Constraint

Guangming Zhu,
Qiuzhen Yan

Abstract: Pneumatic muscle actuators are widely used in the manufacture of bionic robots and rehabilitation medical equipment. However, due to complicated inherent nonlinearities, time-varying characteristics and uncertainties, it is still a challenge to carry out the accurate dynamic modeling and controller design for PAM systems. To address above issues, we propose an error tracking-based neuro-adaptive iterative learning control scheme to get satisfactory non-uniform angle trajectory tracking performance. First, the … Show more

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