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Received: 2007-03-06

Revision Accepted: 2007-08-01

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Journal of Zhejiang University SCIENCE A 2007 Vol.8 No.12 P.1928~1937

10.1631/jzus.2007.A1928


Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles


Author(s):  ZHU Xiao-cong, TAO Guo-liang, CAO Jian

Affiliation(s):  The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   zhuxiaoc@zju.edu.cn, gltao@zju.edu.cn

Key Words:  Pneumatic muscle, Parallel manipulator, Pressure observer, Adaptive robust control, Trajectory tracking


ZHU Xiao-cong, TAO Guo-liang, CAO Jian. Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles[J]. Journal of Zhejiang University Science A, 2007, 8(12): 1928~1937.

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author="ZHU Xiao-cong, TAO Guo-liang, CAO Jian",
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doi="10.1631/jzus.2007.A1928"
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%DOI 10.1631/jzus.2007.A1928

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T1 - Pressure observer based adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic muscles
A1 - ZHU Xiao-cong
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VL - 8
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SP - 1928
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2007.A1928


Abstract: 
This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model errors of the static forces and friction forces of pneumatic muscles, simplified average flow rate characteristics of valves, unknown disturbances of entire system, and unmeasured pressures, there exist rather severe parametric uncertainties, nonlinear uncertainties and dynamic uncertainties in modeling of the parallel manipulator. A nonlinear pressure observer is constructed to estimate unknown pressures on the basis of a single-input-single-output (SISO) decoupling model that is simplified from the actual multiple-input-multiple-output (MIMO) coupling model of the parallel manipulator. Then, an adaptive robust controller integrated with the pressure observer is developed to accomplish high precision posture trajectory tracking of the parallel manipulator. The experimental results indicate that the system with the proposed POARC not only achieves good control accuracy and smooth movement but also maintains robustness to disturbances.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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