A VSC position tracking system involving a large scale pneumatic muscle actuator

Author

Repperger, D.W. ; Johnson, K.R. ; Phillips, C.A.

Author_Institution

Res. Lab., Wright-Patterson AFB, OH, USA

Volume

4

fYear

1998

fDate

16-18 Dec 1998

Firstpage

4302

Abstract

A variable structure controller (VSC) is developed to provide position tracking capability for a very large pneumatic muscle actuator, which has inherently nonlinear dynamics. After the controller design is completed, the internal dynamics of the closed-loop system are shown to be stable. Robustness and passivity issues are then discussed. The switching law is modified to account for the different dynamics through the use of a composite Lyapunov function which guarantees asymptotic tracking stability

Keywords

Lyapunov methods; actuators; asymptotic stability; closed loop systems; dynamics; pneumatic control equipment; position control; tracking; variable structure systems; Lyapunov function; asymptotic stability; closed-loop system; nonlinear dynamics; passivity; pneumatic muscle actuator; position tracking system; robustness; variable structure systems; Asymptotic stability; Humans; Large-scale systems; Muscles; Nonlinear dynamical systems; Pneumatic actuators; Pressure control; Robustness; Solenoids; Steady-state;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.761982

Filename

761982