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Multiple Simultaneous Specification Control of Antagonistic Actuation by Pneumatic Artificial Muscles
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 Title & Authors
Multiple Simultaneous Specification Control of Antagonistic Actuation by Pneumatic Artificial Muscles
Kang, Bong-Soo;
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This paper presents a frequency-response test performed on an antagonistic actuation system consisting of two Mckibben pneumatic artificial muscles and a pneumatic circuit. A linear model, capable of estimating the dynamic characteristics of the antagonistic system in the operating range of pneumatic artificial muscles, was optimally calculated based on frequency-response results and applied to a multiple simultaneous specification control scheme. Trajectory tracking results showed that the presented multiple simultaneous specification controller, built experimentally by three PD typed sample controllers, satisfied successfully all required control specifications; rising time, maximum overshoot, steady-state error.
Frequency-Response Test;Antagonistic Actuation;Pneumatic Artificial Muscle;Multiple Simultaneous Specification Control;Trajectory Tracking;
 Cited by
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