Electro-Pneumatic Robot Actuator with Artificial Muscles and State Feedback

Abstract

Pneumatic position servo system with artificial muscles described in this paper represents feedback control system with non-linear compensation controller of state variables. The designed system demonstrates the operating characteristics that are significantly more favorable than the original characteristics without compensation and they are similar to the properties of the linear system. Such system has principally a shorter control time, significantly lower dynamic control error and it allows apply larger constants of the controller. Following an increased invariance of system against disturbances and also its parametric invariance (robustness) occur.