Identification and control of pneumatic driven robot

The system considered for our application is composed of two rigid links with pneumatic actuators driving the rotational joints. This mechanical system constitutes the leg of a four-legged walking robot. The motion is vertical and constrained by contact with the environment. Our goal here is to obtain an appropriate model for identification and application of adaptive and robust control techniques. In this paper, the system model equations are developed for the actuators and the legs, the parameter identification and state feedback control using the available measurements are then proposed and analyzed. The control design and analysis is based on the Lyapunov method and passive systems theory, using the fact that the system obeys the passivity property