Modeling and nonlinear control of antagonistically actuating pneumatic artificial muscles
- This paper discusses modeling and nonlinear control of a joint antagonistically actuated by two pneumatic, artificial muscles. A single model of the whole system is obtained by a combined physical and phenomenological modeling approach. The combined model for the joint, the muscles and the proportional valves results in a nonlinear, affine-in-control system description. The model is used to derive control laws for an input/output linearization approach to linearize the plant. Modeling and parametrization errors are covered via an outer control loop consisting of a state-feedback which is extended by an additional feedback of error integral. Extensive experimental results show the quality of the model and the performance of the respective control laws.
Author: | Roman Weiß, Benjamin Großmann, Marion Leibold, Thomas SchleglORCiD, Dirk Wollherr, Roman Weiss, Benjamin Grossmann |
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DOI: | https://doi.org/10.1109/AIM.2017.8014001 |
Parent Title (English): | 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 3-7 July 2017, Munich, Germany |
Publisher: | IEEE |
Document Type: | conference proceeding (article) |
Language: | English |
Year of first Publication: | 2017 |
Release Date: | 2022/05/03 |
Tag: | FORCE; Muscles; Pulleys; Robot sensing systems; Transfer functions; Valves |
First Page: | 94 |
Last Page: | 99 |
Institutes: | Fakultät Maschinenbau |
Begutachtungsstatus: | peer-reviewed |
research focus: | Lebenswissenschaften und Ethik |
Licence (German): | Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG |