TY - GEN
T1 - Adaptive backstepping control of a McKibben actuator driving an inertial load
AU - Reutzel, William T.
AU - Rahn, Christopher D.
PY - 2002
Y1 - 2002
N2 - 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.
AB - 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.
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U2 - 10.1115/IMECE2002-33540
DO - 10.1115/IMECE2002-33540
M3 - Conference contribution
AN - SCOPUS:78249281369
SN - 0791836290
SN - 9780791836293
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings
SP - 381
EP - 386
BT - Dynamic Systems and Control
PB - American Society of Mechanical Engineers (ASME)
ER -