Title :
H∞ control of a certain nonlinear actuator
Author :
Osuka, K. ; Kimura, T. ; Ono, T.
Author_Institution :
Dept. of Mech. Eng., Osaka Prefectural Univ., Japan
Abstract :
The authors designed an H∞ controller and applied it to control a pneumatic rubber artificial muscle named Rubbertuator whose dynamics is highly nonlinear. Some simple experiments show the effectiveness of the controller. A short description of the experiments is provided
Keywords :
actuators; nonlinear control systems; optimal control; pneumatic control equipment; H∞ control; Rubbertuator; nonlinear actuator; optimal control; pneumatic rubber artificial muscle; Control theory; Force control; H infinity control; Lighting control; Muscles; Nonlinear control systems; Pneumatic actuators; Rubber; Torque control; Valves;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203616
