Adaptive Robust Posture Control of a Pneumatic Muscles Driven Parallel Manipulator
نویسندگان
چکیده
Considering rather severe parametric uncertainties and nonlinear uncertainties exist in the dynamic model of pneumatic muscles driven parallel manipulator, a discontinuous projection-based adaptive robust control strategy (ARC) is adopted to effectively handle the effect of various parameter variations of the system and hard-to-model nonlinearities such as the friction forces of the pneumatic muscles and external disturbances of the entire pneumatic system to achieve remarkably precise posture trajectory control. Experimental results are obtained to illustrate the effectiveness of the proposed adaptive robust controller.
منابع مشابه
Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles
Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamic modeling of a parallel manipulator driven by pneumatic muscles. Those uncertainties not only come from the timevarying friction forces and the static force modeling errors of pneumatic muscles but also from the inherent complex nonlinearities and unknown disturbances of the parallel manipulator. In this pap...
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