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Simulation of Hybrid Fuzzy Adaptive Control of Pneumatic Muscle Actuator

  • Mária TóthováEmail author
  • Ján Pitel’
  • Alexander Hošovský
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 348)

Abstract

The pneumatic muscle actuator is highly nonlinear system and it is difficult to control it using only a linear controller with fixed gains. The hybrid fuzzy adaptive control scheme with reference model was designed to control such actuator. It uses a multiplicative signal adaptation with a linear controller in the feedforward and a fuzzy controller in the adaptive feedback loop. In the paper there are presented some simulation results of this control. The nonlinear dynamic model of one-DOF actuator based on the advanced geometric muscle model was used in simulation.

Keywords

pneumatic artificial muscle dynamic simulation hybrid control fuzzy control 

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Mária Tóthová
    • 1
    Email author
  • Ján Pitel’
    • 1
  • Alexander Hošovský
    • 1
  1. 1.Faculty of Manufacturing Technologies, Department of Mathematics, Informatics and CyberneticsTechnical University of KošicePrešovSlovakia

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