Title :
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
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;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.761982
