Controller design involving gain scheduling for a large scale pneumatic muscle actuator
Controller design involving gain scheduling for a large scale pneumatic muscle actuator
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DOI：
10.1109/cca.1999.806643
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发表时间：
1999-08
期刊：
影响因子：
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通讯作者：
D. Repperger;C. Phillips;M. Krier
中科院分区：
文献类型：
--
作者：
D. Repperger;C. Phillips;M. Krier
增益调度控制器设计用于调节具有固有非线性动力学的大型气动肌肉致动器装置的响应。跟踪范例由三角波所需力输入信号组成。为了计算适当的预定增益，在其操作的动态范围内对气动肌肉系统的响应进行了稳态和瞬态分析。给出了所设计的控制器的实验数据。
A gain-scheduled controller is designed for regulating the response of a large-scale pneumatic muscle actuator device which has inherently nonlinear dynamics. The tracking paradigm consists of a triangular-wave desired force input signal. To compute the appropriate scheduled gains, a steady state and transient analysis of the pneumatic muscle system's response were conducted within the dynamic range of its operation. Experimental data are presented on the controller designed.