Title :
Controller design involving gain scheduling for a large scale pneumatic muscle actuator
Author :
Repperger, D.W. ; Phillips, C.A. ; Krier, M.
Author_Institution :
Res. Lab., Wright-Patterson AFB, OH, USA
Abstract :
A gain-scheduled controller is designed for regulating the response of a large-scale pneumatic muscle actuator device which has inherently nonlinear dynamics. The tracking paradigm consists of a triangular-wave desired force input signal. To compute the appropriate scheduled gains, a steady state and transient analysis of the pneumatic muscle system´s response were conducted within the dynamic range of its operation. Experimental data are presented on the controller designed
Keywords :
biocontrol; force control; muscle; pneumatic control equipment; transient analysis; controller design; dynamic range; gain scheduling; inherently nonlinear dynamics; large scale pneumatic muscle actuator; tracking paradigm; transient analysis; triangular-wave desired force input signal; Asymptotic stability; Control systems; Dynamic scheduling; Force control; Force feedback; Humans; Large-scale systems; Muscles; Nonlinear dynamical systems; Pneumatic actuators;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.806643
