Output Feedback Control for Pneumatic Muscle Joint System With Saturation Input

Pneumatic muscle as a relatively new pneumatic component is often applied to some precise and flexible control systems. The precise control accuracy puts forward higher requirements for the controller design of the pneumatic muscle system. To guarantee good performance, unknown input saturation whic...

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Bibliographic Details
Published inIEEE access Vol. 8; pp. 83901 - 83906
Main Authors Cai, Jianping, Qian, Feng, Yu, Rui, Shen, Lujuan
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuators
backstepping
Control systems design
Controllers
external disturbance
Feedback control
input saturation
Joints (anatomy)
Muscles
Output feedback
output feedback control
Pneumatic muscle joint system
Saturation
Stability analysis
Uncertainty
Upper bound
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Summary:Pneumatic muscle as a relatively new pneumatic component is often applied to some precise and flexible control systems. The precise control accuracy puts forward higher requirements for the controller design of the pneumatic muscle system. To guarantee good performance, unknown input saturation which seems inevitable must be fully considered in the controller design. In this paper, such a control problem is investigated for a pneumatic muscle joint system with input saturation and external disturbance. The auxiliary signals are introduced to compensate for the effect caused by unknown saturation. Furthermore, a filter is constructed to estimate unmeasured system states. Then an output feedback control scheme has been proposed by these auxiliary signals and states filter. Finally, simulation studies are used to verify the effectiveness of the proposed control scheme.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.2991729