Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles-中国期刊网

摘要 Thispaperpresentsapressureobserverbasedadaptiverobustcontroller(POARC)forposturetrajectorytrackingofaparallelmanipulatordrivenbythreepneumaticmuscleswithoutpressuresensors.Duetomodelerrorsofthestaticforcesandfrictionforcesofpneumaticmuscles,simplifiedaverageflowratecharacteristicsofvalves,unknowndisturbancesofentiresystem,andunmeasuredpressures,thereexistrathersevereparametricuncertainties,nonlinearuncertaintiesanddynamicuncertaintiesinmodelingoftheparallelmanipulator.Anonlinearpressureobserverisconstructedtoestimateunknownpressuresonthebasisofasingle-input-single-output(SISO)decouplingmodelthatissimplifiedfromtheactualmultiple-input-multiple-output(MIMO)couplingmodeloftheparallelmanipulator.Then,anadaptiverobustcontrollerintegratedwiththepressureobserverisdevelopedtoaccomplishhighprecisionposturetrajectorytrackingoftheparallelmanipulator.TheexperimentalresultsindicatethatthesystemwiththeproposedPOARCnotonlyachievesgoodcontrolaccuracyandsmoothmovementbutalsomaintainsrobustnesstodisturbances.

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Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles

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Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles

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