Title :
Nonlinear feedback controller design of a pneumatic muscle actuator system
Author :
Repperger, D.W. ; Johnson, K.R. ; Philips, C.A.
Author_Institution :
Inst. of Technol., Wright-Patterson AFB, OH, USA
Abstract :
A study is conducted on several paradigms to provide closed-loop position control of an actuator powered by a pneumatic muscle system. This actuator has many advantages including having extremely high power/weight and power/volume ratios, being light-weight, autonomous, and safe. An implementation as a tracking controller using a gain scheduling method is presented
Keywords :
actuators; closed loop systems; control system synthesis; feedback; nonlinear control systems; pneumatic control equipment; position control; robots; tracking; closed-loop systems; feedback; gain scheduling; nonlinear control systems; pneumatic muscle actuator; position control; robotics; tracking; Adaptive control; Humans; Laboratories; Mathematical model; Muscles; Physics; Pneumatic actuators; Rubber; Steady-state; Tracking loops;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786080
