Design of hybrid adaptive control of antagonistic pneumatic muscle actuator

Mária Tóthová


adaptive control, modeling and simulation, pneumatic actuator, artificial muscle


The linear PID controller with fixed gains is inadequate for meeting the control requirements within the whole operating range of the antagonistic pneumatic muscle actuator which exhibits strong nonlinear behaviour. In the paper there is presented the structural diagram of hybrid adaptive control of such actuator with two pneumatic artificial muscles in antagonistic connection. The control simulation model with a dynamic model of the actuator using an advanced geometric muscle model was designed in Matlab/Simulink environment. The first simulation results using fuzzy adaptive controller are also presented.

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