Simulation of fuzzy adaptive position controllers for pneumatic muscle actuator

Pneumatic muscle actuators usually use various non-linear control techniques in order to improve their performance. Therefore a hybrid adaptive control scheme with reference model was designed where a conventional PD controller in the feedforward branch and a fuzzy controller in the adaptation branch were used. In the paper two types of fuzzy adaptive position controllers (type Mamdani and type Sugeno) are tested for comparison and simulation results of their using in the pneumatic muscle actuator hybrid adaptive control system are presented.