High Gain Finite-Time Trajectory Tracking Control of Pneumatic Muscle Actuator
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.
KeywordsPneumatic muscle actuator Tracking control Finite-time control
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