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• W2751654906 abstract "This paper discusses modeling and nonlinear control of a joint antagonistically actuated by two pneumatic, artificial muscles. A single model of the whole system is obtained by a combined physical and phenomenological modeling approach. The combined model for the joint, the muscles and the proportional valves results in a nonlinear, affine-in-control system description. The model is used to derive control laws for an input/output linearization approach to linearize the plant. Modeling and parametrization errors are covered via an outer control loop consisting of a state-feedback which is extended by an additional feedback of error integral. Extensive experimental results show the quality of the model and the performance of the respective control laws." @default.
• W2751654906 created "2017-09-15" @default.
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• W2751654906 date "2017-07-01" @default.
• W2751654906 modified "2023-09-25" @default.
• W2751654906 title "Modeling and nonlinear control of antagonistically actuating pneumatic artificial muscles" @default.
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• W2751654906 doi "https://doi.org/10.1109/aim.2017.8014001" @default.
• W2751654906 hasPublicationYear "2017" @default.
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