Robust control for a pneumatic muscle actuator system
Journal
Transactions of the Canadian Society for Mechanical Engineering
Journal Volume
37
Journal Issue
3
Pages
581-590
Date Issued
2013
Author(s)
Abstract
This paper presents the modeling and robust control of a pneumatic muscle actuator system. Due to the inherent nonlinear and time-varying characteristics of this system, it is difficult to achieve excellent performance using conventional control methods. Therefore, we apply identification techniques to model the system as linear transfer functions and regard the un-modeled dynamics as system uncertainties. Because H ∞ robust control is well-known for its capability in dealing with system uncertainties, we then apply H ∞ robust control strategies to guarantee system stability and performance for the system. From the experimental results, the proposed H ∞ robust controller is deemed effective.
SDGs
Type
journal article