Feedforward control of a non-linear pneumatic muscle system using fuzzy logic

Abstract

Inverse dynamics is a commonly used technique in the control of dynamic systems. A fuzzy inverse dynamics controller (feedforward control) for a Pneumatic Muscle system is designed using two methods: Weighted Average and the Least Squared Error. Both methods use data collected from the system. The inverse model obtained using the two methods are tested for its trajectory tracking capabilities and the results are compared. Simulation results show that the feedforward controller obtained using Least Squared Error method has better trajectory tracking capabilities than the weighted average scheme.