DocumentCode
494515
Title
Variable Structure Robust state Observer design for a Pneumatic Artificial Muscle actuator
Author
Akkharaphong, E.
Author_Institution
Sch. of Eng., Bangkok Univ., Bangkok, Thailand
Volume
01
fYear
2009
fDate
6-9 May 2009
Firstpage
399
Lastpage
402
Abstract
The Variable Structure Robust state Observer (VSRO) design for Pneumatic Artificial Muscle (PAM) actuator are proposed. The observability matrix of the nominal nonextended system shows the observation of state variables. Simulation results shows the designed VSRO provides good performance of observation. The experiment results will be show in full paper.
Keywords
artificial limbs; control system synthesis; matrix algebra; pneumatic actuators; variable structure systems; nominal nonextended system; observability matrix; pneumatic artificial muscle actuator; robust state observer design; variable structure observer design; Damping; Design engineering; Force control; Muscles; Observability; Pneumatic actuators; Pressure control; Robustness; Springs; Voltage control;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, 2009. ECTI-CON 2009. 6th International Conference on
Conference_Location
Pattaya, Chonburi
Print_ISBN
978-1-4244-3387-2
Electronic_ISBN
978-1-4244-3388-9
Type
conf
DOI
10.1109/ECTICON.2009.5137034
Filename
5137034
Link To Document