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• W880179664 abstract "A pneumatic artificial muscle type of actuator, which acts similar to human muscle, is developed recently. In this paper, an adaptive controller is presented for the trajectory tracking problem of a two-degree- of-freedom manipulator using two pairs of pneumatic artificial muscle actuators. Due to the nonlinearity and the uncertainty on the dynamics of the actuator, it is difficult to make the effective control schemes of this system. By the adaptive control law which inclueds a nonlinear feedforward term compensating paramet- ric uncertainties in addition to P.I.D. scheme, both golbal stability of the system and convergence of the tracking error are guaranted. The effectiveness of the proposed control method for the manipulator using this actuator is illustrated through experiments.periments." @default.
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• W880179664 date "1997-01-01" @default.
• W880179664 modified "2023-09-23" @default.
• W880179664 title "Adaptive Control for Trajectory Tracking of a Manipulator with Pneumatic Artificial Muscle Actuators" @default.
• W880179664 hasPublicationYear "1997" @default.
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