Trajectory Tracking Control of the Bionic Joint Actuated by Pneumatic Artificial Muscle Based on Robust Modeling

no code implementations • 10 Aug 2022 • Yang Wang, Qiang Zhang, Xiao-hui Xiao

Then, a hybrid model is established based on the two models (the nonlinear model and the LTI model) and corresponding to it, a cascaded controller is developed, the outer loop of which is an H-infinite controller for the angular position tracking designed by loop-shaping design procedure (LSDP) and the inner loop is a nonlinear controller based on the feedback linearization theory for the PAM driving pressure control.

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