1999 · 51 citations · 5 references
EngineeringMechanical EngineeringRobotics EngineeringActuatorsRobot ControlRoboticsActuation SystemsActuator ControlActuator DesignActuator SystemsControl SystemsPneumatic ActuatorsControl Of Pneumatic ActuatorsGain SchedulingGain Scheduling ControlNonlinear Control Of Pneumatic ActuatorsNonlinear FeedbackPneumatic Actuator DesignPneumatic Muscle ModelingPosition Control Of Pneumatic Actuators
A study is conducted on several paradigms to provide closed-loop position control of an actuator powered by a pneumatic muscle system. This actuator has many advantages including having extremely high power/weight and power/volume ratios, being light-weight, autonomous, and safe. An implementation as a tracking controller using a gain scheduling method is presented.
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