Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle | Zendy

Youssif Mohamed Toum Elobaid | Zendy; Jian Huang | Zendy; Yongji Wang | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle

Author(s) -

Youssif Mohamed Toum Elobaid,

Jian Huang,

Yongji Wang

Publication year - 2014

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2014/872093

Subject(s) - control theory (sociology) , nonlinear system , robustness (evolution) , disturbance (geology) , control engineering , tracking (education) , computer science , lyapunov stability , lyapunov function , engineering , control (management) , artificial intelligence , physics , psychology , paleontology , pedagogy , biochemistry , chemistry , quantum mechanics , gene , biology

Presently pneumatic muscles (PMs) are used in various applications due to their simple construction, lightweight, and high force-to-weight ratio. However, pneumatic muscles are facing various problems due to their nonlinear characteristics and various uncertainties in real applications. To cope with the uncertainties and strong nonlinearity of a PM model, a nonlinear disturbance observer (NDO) is designed to estimate the lumped disturbance. Based on the disturbance observer, the tracking control of PM is studied. Stability analysis based on Lyapunov method with respect to our proposed control law is discussed. The simulation results show the validity, effectiveness, and enhancing robustness of the proposed methods

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research