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28 December 2022 Robust adaptive control approach for pneumatic artificial muscle system with actuator faults
Yuhan Ma, Qiuzhen Yan, Lili Zhao, Shuangjie Ji
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Proceedings Volume 12506, Third International Conference on Computer Science and Communication Technology (ICCSCT 2022); 125065G (2022) https://doi.org/10.1117/12.2661954
Event: International Conference on Computer Science and Communication Technology (ICCSCT 2022), 2022, Beijing, China
Abstract
In this work, the angle tracking algorithm for a pneumatic artificial muscle-actuated mechanism is studied. The control system is subject to both multiplicative and additive actuator faults. Lyapunov synthesis is used to design controller. The uncertainties and external disturbances are dealt with according to robust adaptive strategy. The filtering error of closed-loop system may converge to the small neighour of origin even if both multiplicative and additive actuator faults happen.
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Yuhan Ma, Qiuzhen Yan, Lili Zhao, and Shuangjie Ji "Robust adaptive control approach for pneumatic artificial muscle system with actuator faults", Proc. SPIE 12506, Third International Conference on Computer Science and Communication Technology (ICCSCT 2022), 125065G (28 December 2022); https://doi.org/10.1117/12.2661954
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KEYWORDS
Actuators
Adaptive control
Control systems
Artificial muscles
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