Robust control of a system with a pneumatic spring

Recently, series elasticity has been realized using pneumatics in human-robot interaction systems. Pneumatic circuits provide not only a flexible power transmission, but also the elastic element actuator (SEA). systems involve more than twice number of parameters that influence system behaviors comparison with rigid robotic In this study, position controller eliminates need identifying model by employing time delay estimation (TDE) technique is proposed for pneumatic SEA The TDE effective compensating dynamics and all uncertainties involved without imposing computation load. error cancelled out through learning way, which improves control performance leads to asymptotic stability. A simulation study demonstrates robustness controllers against imposed on motor as well end-effector. shows efficacy compensation error.