Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle

被引：11
|
作者：
Elobaid, Youssif Mohamed Toum [1 ,2 ]
Huang, Jain [1 ]
Wang, Yongji [1 ]
机构：
[1] Huazhong Univ Sci & Technol, Sch Automat, Wuhan 430074, Hubei, Peoples R China
[2] Univ Alneelain, Dept Control Engn, Khartoum 11121, Sudan
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2014年 / 2014卷
关键词：
SLIDING-MODE; ACTUATORS; SYSTEM;
D O I：
10.1155/2014/872093
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
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收藏
页数：8
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