Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles

Authors:
Xiaocong Zhu;Guoliang Tao;Bin Yao;Jian Cao
Affiliations:
The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China;The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China;The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China and School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, US ...;The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China
Venue:
Automatica (Journal of IFAC)
Year:
2008

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Abstract

Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamic modeling of a parallel manipulator driven by pneumatic muscles. Those uncertainties not only come from the time-varying friction forces and the static force modeling errors of pneumatic muscles but also from the inherent complex nonlinearities and unknown disturbances of the parallel manipulator. In this paper, a discontinuous projection-based adaptive robust control strategy is adopted to compensate for both the parametric uncertainties and uncertain nonlinearities of a three-pneumatic-muscles-driven parallel manipulator to achieve precise posture trajectory tracking control. The resulting controller effectively handles the effects of various parameter variations and the hard-to-model nonlinearities such as the friction forces of the pneumatic muscles. Simulation and experimental results are obtained to illustrate the effectiveness of the proposed adaptive robust controller.