Reference model for hybrid adaptive control of pneumatic muscle actuator

Author

Tothova, M. ; Pitel, J.

Author_Institution

Dept. of Math., Inf. & Cybern., Tech. Univ. of Kosice, Presov, Slovakia

fYear

2014

fDate

15-17 May 2014

Firstpage

105

Lastpage

109

Abstract

Pneumatic muscle actuator exhibits strong nonlinear behavior and it requires use advanced control algorithms based also on computational intelligence techniques as for example hybrid fuzzy adaptive control. These sophisticated control methods could be capable of handling the system´s nonlinear properties. In the paper there is presented nonlinear dynamic model of one-DOF pneumatic muscle actuator for use as reference model in adaptation mechanism of hybrid adaptive fuzzy controller. This dynamic model was designed using different muscle models and some simulation results are presented in the paper.

Keywords

adaptive control; electroactive polymer actuators; fuzzy control; nonlinear dynamical systems; pneumatic actuators; adaptation mechanism; advanced control algorithms; computational intelligence techniques; hybrid fuzzy adaptive control; nonlinear behavior; nonlinear dynamic model; one-DOF pneumatic muscle actuator; reference model; system nonlinear property; Actuators; Adaptation models; Atmospheric modeling; Computational modeling; Mathematical model; Muscles; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Computational Intelligence and Informatics (SACI), 2014 IEEE 9th International Symposium on

Conference_Location

Timisoara

Type

conf

DOI

10.1109/SACI.2014.6840044

Filename

6840044