The pneumatic muscle actuator is highly nonlinear system and it is difficult to control it using only a linear controller with fixed gains. The hybrid fuzzy adaptive control scheme with reference model was designed to control such actuator. It uses a multiplicative signal adaptation with a linear controller in the feedforward and a fuzzy controller in the adaptive feedback loop. In the paper there are presented some simulation results of this control. The nonlinear dynamic model of one-DOF actuator based on the advanced geometric muscle model was used in simulation.
CITATION STYLE
Tóthová, M., Piteľ, J., & Hošovský, A. (2015). Simulation of hybrid fuzzy adaptive control of pneumatic muscle actuator. In Advances in Intelligent Systems and Computing (Vol. 348, pp. 239–246). Springer Verlag. https://doi.org/10.1007/978-3-319-18503-3_24
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