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Simulation of Hybrid Fuzzy Adaptive Control of Pneumatic Muscle Actuator

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Intelligent Systems in Cybernetics and Automation Theory (CSOC 2015)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 348))

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Abstract

The pneumatic muscle actuator is highly nonlinear system and it is difficult to control it using only a linear controller with fixed gains. The hybrid fuzzy adaptive control scheme with reference model was designed to control such actuator. It uses a multiplicative signal adaptation with a linear controller in the feedforward and a fuzzy controller in the adaptive feedback loop. In the paper there are presented some simulation results of this control. The nonlinear dynamic model of one-DOF actuator based on the advanced geometric muscle model was used in simulation.

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Author information

Authors and Affiliations

  1. Faculty of Manufacturing Technologies, Department of Mathematics, Informatics and Cybernetics, Technical University of Košice, Prešov, Slovakia

    Mária Tóthová, Ján Pitel’ & Alexander Hošovský

Authors
  1. Mária Tóthová
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  2. Ján Pitel’
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  3. Alexander Hošovský
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Corresponding author

Correspondence to Mária Tóthová .

Editor information

Editors and Affiliations

  1. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Radek Silhavy

  2. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Roman Senkerik

  3. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Zuzana Kominkova Oplatkova

  4. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Zdenka Prokopova

  5. Faculty of Applied Informatics, Tomas Bata University in Zlín, Zlín, Czech Republic

    Petr Silhavy

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© 2015 Springer International Publishing Switzerland

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Tóthová, M., Pitel’, J., Hošovský, A. (2015). Simulation of Hybrid Fuzzy Adaptive Control of Pneumatic Muscle Actuator. In: Silhavy, R., Senkerik, R., Oplatkova, Z., Prokopova, Z., Silhavy, P. (eds) Intelligent Systems in Cybernetics and Automation Theory. CSOC 2015. Advances in Intelligent Systems and Computing, vol 348. Springer, Cham. https://doi.org/10.1007/978-3-319-18503-3_24

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  • DOI: https://doi.org/10.1007/978-3-319-18503-3_24

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18502-6

  • Online ISBN: 978-3-319-18503-3

  • eBook Packages: EngineeringEngineering (R0)

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