Study on Displacement Control of the Pneumatic Muscle Actuator Basing on Model-Free Adaptive Control with Nonlinear Feedback

Since the Pneumatic Muscle Actuator (PMA) has the characteristic of strong nonlinear and time lags, it is difficult to establish a precise mathematical mode. Model-Free Adaptive Control (MFAC) is an advanced control algorithm that does not require building an off-line mathematical model. This paper is basing on the feature of the PMA and presents a model-free adaptive control algorithm with the nonlinear feedback. Finally, experimental results show the strong robustness, fast response, and high precision of this control algorithm on the displacement control of the PMA.