ADAPTIVE ROBUST POSTURE CONTROL OF A PNEUMATIC MUSCLES DRIVEN PARALLEL MANIPULATOR

摘要

Considering rather severe parametric uncertainties and nonlinear uncertainties exist in the dynamic model of pneumatic muscles driven parallel manipulator, a discontinuous projection-based adaptive robust control strategy (ARC) is adopted to effectively handle the effect of various parameter variations of the system and hard-to-model nonlinearities such as the friction forces of the pneumatic muscles and external disturbances of the entire pneumatic system to achieve remarkably precise posture trajectory control. Experimental results are obtained to illustrate the effectiveness of the proposed adaptive robust controller.