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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.

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Metadaten
Author:Roman Weiß, Benjamin Großmann, Marion Leibold, Thomas SchleglORCiD, Dirk Wollherr, Roman Weiss, Benjamin Grossmann
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