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• W2972511304 abstract "As a new type of actuator, pneumatic artificial muscle (PAM) possesses lots of superior characteristics, which make it extensively used in the robotics field, especially in rehabilitation engineering. But the complex dynamics such as time-varying parameters and hysteresis make it difficult to achieve high precision trajectory tracking control. In order to achieve accurate tracking performance and enhance the robustness of the controller, this paper proposes a nonlinear disturbance observer based T-S fuzzy logic controller (NDOTS). Based on the three-element model of PAM, T-S fuzzy modeling is utilized to decompose the nonlinear model into a series of linear models, which make it possible to use the linear system control theory in the controller design. The MATLAB LMI Toolbox is applied to get the feedback gains. A Lyapunov candidate is designed to analyze the stability of the system. The experimental results of attaching loads on the PAM validate the proposed NDOTS controller." @default.
• W2972511304 created "2019-09-19" @default.
• W2972511304 creator A5008740867 @default.
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• W2972511304 date "2019-07-01" @default.
• W2972511304 modified "2023-09-24" @default.
• W2972511304 title "Nonlinear Disturbance Observer Based T-S Fuzzy Logic Control of Pneumatic Artificial Muscles" @default.
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• W2972511304 doi "https://doi.org/10.1109/icarm.2019.8834335" @default.
• W2972511304 hasPublicationYear "2019" @default.
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