Adaptive control for a motion mechanism with pneumatic artificial muscles subject to dead-zones
•Dead-zones of pneumatic artificial muscles are considered in system modeling.•Total disturbances are estimated by a nonlinear extended state observer.•An adaptive control law is proposed to handle dead-zones parameters. This paper proposes an adaptive control method for a motion mechanism of pneuma...
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| Published in | Mechanical systems and signal processing Vol. 148; p. 107155 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Berlin
Elsevier Ltd
01.02.2021
Elsevier BV |
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| Online Access | Get full text |
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| Abstract | •Dead-zones of pneumatic artificial muscles are considered in system modeling.•Total disturbances are estimated by a nonlinear extended state observer.•An adaptive control law is proposed to handle dead-zones parameters.
This paper proposes an adaptive control method for a motion mechanism of pneumatic artificial muscles based on a nonlinear extended state observer. The motion mechanism of pneumatic artificial muscles is modeled as a dynamic nonlinear system. Dead-zones of the pneumatic artificial muscles are considered in modeling the dynamic nonlinear system. The nonlinear extended state observer is designed to estimate total disturbances for the dynamic nonlinear system. Moreover, the dead-zones are dealt with by an adaptive control law for the dynamic nonlinear system. The effectiveness of the proposed adaptive control method is proved by angle tracking control experiments. |
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| AbstractList | This paper proposes an adaptive control method for a motion mechanism of pneumatic artificial muscles based on a nonlinear extended state observer. The motion mechanism of pneumatic artificial muscles is modeled as a dynamic nonlinear system. Dead-zones of the pneumatic artificial muscles are considered in modeling the dynamic nonlinear system. The nonlinear extended state observer is designed to estimate total disturbances for the dynamic nonlinear system. Moreover, the dead-zones are dealt with by an adaptive control law for the dynamic nonlinear system. The effectiveness of the proposed adaptive control method is proved by angle tracking control experiments. •Dead-zones of pneumatic artificial muscles are considered in system modeling.•Total disturbances are estimated by a nonlinear extended state observer.•An adaptive control law is proposed to handle dead-zones parameters. This paper proposes an adaptive control method for a motion mechanism of pneumatic artificial muscles based on a nonlinear extended state observer. The motion mechanism of pneumatic artificial muscles is modeled as a dynamic nonlinear system. Dead-zones of the pneumatic artificial muscles are considered in modeling the dynamic nonlinear system. The nonlinear extended state observer is designed to estimate total disturbances for the dynamic nonlinear system. Moreover, the dead-zones are dealt with by an adaptive control law for the dynamic nonlinear system. The effectiveness of the proposed adaptive control method is proved by angle tracking control experiments. |
| ArticleNumber | 107155 |
| Author | Xia, Yuanqing Zhang, Jinhui Cheng, Haiyan Zhao, Ling |
| Author_xml | – sequence: 1 givenname: Ling orcidid: 0000-0002-0168-2184 surname: Zhao fullname: Zhao, Ling email: lingzhao84@126.com organization: State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China – sequence: 2 givenname: Haiyan orcidid: 0000-0002-6216-2617 surname: Cheng fullname: Cheng, Haiyan email: chenghaiyan8023@163.com organization: School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, China – sequence: 3 givenname: Jinhui orcidid: 0000-0002-2405-894X surname: Zhang fullname: Zhang, Jinhui email: zhangjinh@bit.edu.cn organization: School of Automation, Beijing Institute of Technology, Beijing 100081, China – sequence: 4 givenname: Yuanqing surname: Xia fullname: Xia, Yuanqing email: xia_yuanqing@bit.edu.cn organization: School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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| Snippet | •Dead-zones of pneumatic artificial muscles are considered in system modeling.•Total disturbances are estimated by a nonlinear extended state observer.•An... This paper proposes an adaptive control method for a motion mechanism of pneumatic artificial muscles based on a nonlinear extended state observer. The motion... |
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| SubjectTerms | Adaptive control Adaptive control law Artificial muscles Control methods Control theory Dead-zone Nonlinear extended state observer Nonlinear systems Pneumatic artificial muscle State observers Tracking control |
| Title | Adaptive control for a motion mechanism with pneumatic artificial muscles subject to dead-zones |
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