Abstract
In this paper, a high gain trajectory tracking control method is proposed for the pneumatic muscle actuator with the tracking errors converging in a finite-time interval. Firstly, we design the sliding surface that ensure the system tracking error reach it within a finite time. Then, an controller with a disturbance observer is designed, which achieves the convergence of the errors within a finite time. At last, numerical simulations, which compare high-gain finite time control with normal finite time control, demonstrate the validity of the method we proposed.
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Shen, T., Huang, J. (2020). High Gain Finite-Time Trajectory Tracking Control of Pneumatic Muscle Actuator. In: Wang, R., Chen, Z., Zhang, W., Zhu, Q. (eds) Proceedings of the 11th International Conference on Modelling, Identification and Control (ICMIC2019). Lecture Notes in Electrical Engineering, vol 582. Springer, Singapore. https://doi.org/10.1007/978-981-15-0474-7_73
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DOI: https://doi.org/10.1007/978-981-15-0474-7_73
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