Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles

作     者：Zhu, Xiaocong Tao, Guoliang Yao, Bin Cao, Jian 

作者机构：Zhejiang Univ State Key Lab Fluid Power Transmiss & Control Hangzhou 310027 Peoples R China Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA 

出 版 物：《AUTOMATICA》 (自动学)

年 卷 期：2008年第44卷第9期

页      面：2248-2257页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0701[理学-数学] 071101[理学-系统理论] 

主　　题：pneumatic muscle parallel manipulator adaptive control nonlinear robust control 

摘      要：Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamic modeling of a parallel manipulator driven by pneumatic muscles. Those uncertainties not only come from the time-varying friction forces and the static force modeling errors of pneumatic muscles but also from the inherent complex nonlinearities and unknown disturbances of the parallel manipulator. In this paper, a discontinuous projection-based adaptive robust control strategy is adopted to compensate for both the parametric uncertainties and uncertain nonlinearities of a three-pneumatic-muscles-driven parallel manipulator to achieve precise posture trajectory tracking control. The resulting controller effectively handles the effects of various parameter variations and the hard-to-model nonlinearities such as the friction forces of the pneumatic muscles. Simulation and experimental results are obtained to illustrate the effectiveness of the proposed adaptive robust controller. (c) 2008 Elsevier Ltd. All rights reserved.