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Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations
1Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY 40292, USA. jlilly@louisville.edu
Abstract:
Adaptive tracking techniques are applied to pneumatic muscle actuators arranged in bicep and tricep configurations. The control objective is to force the joint angle to track a specified reference path. Mathematical models are derived for the bicep and tricep configurations. The models are nonlinear and in general time-varying, making adaptive control desirable. Stability results are derived, and the results of simulation studies are presented, contrasting the nonlinear adaptive control to a nonadaptive PID control approach.