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Adaptive Backstepping Control of a McKibben Actuator Driving an Inertial Load

[+] Author Affiliations
William T. Reutzel, Christopher D. Rahn

Pennsylvania State University, University Park, PA

Paper No. IMECE2002-33540, pp. 381-386; 6 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


McKibben artificial muscles are pneumatic linear actuators with high strength-to-weight ratio and natural compliance. The actuator consists of an elastic cylindrical tube within an inelastic braided shall. With a sufficiently shallow braid angle, increasing internal pressure causes the muscle to expand radially and contract longitudinally, providing a large actuation force. When McKibben actuators attach to an inertial load, however, PID position control cannot provide accurate tracking due to excessive vibration. Based on a third-order system model, two adaptive position controllers are developed, proven stable using Lyapunov Theory, and tested experimentally. First, adaptive control with a PID pressure loop yields acceptable sine wave tracking up to 3 Hz. Second, backstepping compensation for the pressure dynamics ensures accurate tracking of a 4 Hz since wave with increased amplitude.

Copyright © 2002 by ASME
Topics: Stress , Actuators



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