Fixed-Time Angle Tracking Control for Multi-DOF Manipulator Driven by Pneumatic Artificial Muscles

In this article, a fixed-time angle tracking control strategy is proposed to improve control performances of the multi-DOF manipulator driven by pneumatic artificial muscles (PAMs). The proposed fixed-time angle tracking control strategy includes a fixed-time disturbance observer and a fixed-time controller to estimate and compensate unknown disturbance in the multi-DOF manipulator, respectively. The fixed-time convergence of both the fixed-time disturbance observer and the multi-DOF manipulator with the fixed-time controller is proved by using homogeneous theory and Lyapunov strategy, respectively. Finally, experimental results show that the desired angle tracking control performances of the multi-DOF manipulator are achieved.