Modelling and Angle Tracking Control for Multi-Chamber Soft Bending Pneumatic Muscle

Xin Liu, Jinhui Zhang*, Shaomeng Gu, Ling Zhao, Zheng Li

*此作品的通讯作者

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摘要

In this letter, a multi-chamber soft bending pneumatic muscle (SBPM) is designed, which can achieve any-directional angle bending in space. The dynamic model of the multi-chamber SBPM is established by using Euler-Lagrange equation. To realize desired angle tracking control performances of the multi-chamber SBPM, an angle tracking control strategy is proposed. A nonlinear extended state observer (NESO) is designed to estimate states and uncertainties of the multi-chamber SBPM. Moreover, a linear error feedback controller (LEFC) is presented to achieve desired angle tracking control performances of the multi-chamber SBPM. Finally, experimental results of angle tracking control show that the proposed control strategy is effective to achieve desired angle tracking control performances.

源语言英语
页(从-至)7647-7654
页数8
期刊IEEE Robotics and Automation Letters
8
11
DOI
出版状态已出版 - 1 11月 2023

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Liu, X., Zhang, J., Gu, S., Zhao, L., & Li, Z. (2023). Modelling and Angle Tracking Control for Multi-Chamber Soft Bending Pneumatic Muscle. IEEE Robotics and Automation Letters, 8(11), 7647-7654. https://doi.org/10.1109/LRA.2023.3322072