Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle

作者：Elobaid Youssif Mohamed Toum; Huang Jain^*; Wang Yongji

来源：Mathematical Problems in Engineering, 2014, 2014: 872093.

DOI：10.1155/2014/872093

Presently pneumatic muscles (PMs) are used in various applications due to their simple construction, lightweight, and high force-to-weight ratio. However, pneumatic muscles are facing various problems due to their nonlinear characteristics and various uncertainties in real applications. To cope with the uncertainties and strong nonlinearity of a PM model, a nonlinear disturbance observer (NDO) is designed to estimate the lumped disturbance. Based on the disturbance observer, the tracking control of PM is studied. Stability analysis based on Lyapunov method with respect to our proposed control law is discussed. The simulation results show the validity, effectiveness, and enhancing robustness of the proposed methods.

• 出版日期2014
• 单位华中科技大学