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
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;
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
DOI :
10.1109/ECTICON.2009.5137034
