Adaptive control for a motion mechanism with pneumatic artificial muscles subject to dead-zones

• Published in: Mechanical systems and signal processing Vol. 148; p. 107155
• Main Authors: Zhao, Ling, Cheng, Haiyan, Zhang, Jinhui, Xia, Yuanqing
• Format: Journal Article
• Language: English
• Published: Berlin Elsevier Ltd 01.02.2021; Elsevier BV
• Subjects: 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; Nonlinear extended state observer; Pneumatic artificial muscle; Adaptive control law; Dead-zone

•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...