Adaptive backstepping control of a McKibben actuator driving an inertial load

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


McKibben artificial muscles are pneumatic linear actuators with high strength-to-weight ratio and natural compliance. The actuator consists of an elastic cylindrical tube within an inelastic braided shell. With a sufficiently shallow braid angle, increasing internal pressure causes the muscle to expand radially and contract longitudinally providing a large actuation force. When McKibben actuators attach to an inertial load, however, PID position control cannot provide accurate tracking due to excessive vibration. Based on a third-order system model, two adaptive position controllers are developed, proven stable using Lyapunov Theory, and tested experimentally. First, adaptive control with a PID pressure loop yields acceptable sine wave tracking up to 3 Hz. Second, backstepping compensation for the pressure dynamics ensures accurate tracking of a 4 Hz sine wave with increased amplitude.

Original languageEnglish (US)
Title of host publicationDynamic Systems and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages6
ISBN (Print)0791836290, 9780791836293
StatePublished - 2002

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering


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