Intelligent Systems in Cybernetics and Automation Theory

Abstract

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.