DocumentCode
2315427
Title
Nonlinear parametric identification of a McKibben artificial pneumatic muscle using flatness property of the system
Author
Sanchez, Augustin ; Mahout, Vincent ; Tondu, Bertrand
Author_Institution
Dept. of Electr. & Comput. Eng., Inst. Nat. des Sci. Appliquees, Toulouse, France
Volume
1
fYear
1998
fDate
1-4 Sep 1998
Firstpage
70
Abstract
We present an approach to estimating the parameters in a nonlinear model of the studied system. This approach uses a classic nonlinear estimator algorithm (damped Gauss-Newton in our case), applied to a flat differential model of a process. The method is applied to an artificial pneumatic muscle, and compared with standard nonlinear identification method. For both cases, identification results are given and discussed
Keywords
Newton method; actuators; nonlinear dynamical systems; parameter estimation; pneumatic control equipment; McKibben artificial pneumatic muscle; damped Gauss-Newton algorithm; flatness property; nonlinear parametric identification; Bars; Gravity; Muscles; Nonlinear dynamical systems; Parameter estimation; Rubber;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location
Trieste
Print_ISBN
0-7803-4104-X
Type
conf
DOI
10.1109/CCA.1998.728247
Filename
728247
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