The Hybrid Control for a Two Degree of Freedom Arm Actuated by Four Pneumatic Muscle Actuators

Autor:	Jui-Chi Wu, 吳瑞啟
Rok vydání:	2006
Druh dokumentu:	學位論文 ; thesis
Popis:	94 Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, it is widely applied to industrial automation or rehabilitation engineering. Due to compressibility of air and the nonlinear elasticity of bladder container caused parameter variation, it can not attain excellent control performance. In this study, the two degree of freedom arm actuated by four pneumatic muscle actuators is used as a rehabilitation robot. We use four intelligent controllers to implement synchronous control of angle and end-effector’s tracking control. From experimental results show that the adaptive fuzzy sliding-mode controller(AFSMC) and the adaptive fuzzy sliding-mode with adaptive scaling factor(AFSMC-ASF) can achieve excellent control performance.
Databáze:	Networked Digital Library of Theses & Dissertations
Externí odkaz:	http://ndltd.ncl.edu.tw/handle/12941128464726675724 Zobrazit plný text záznamu