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Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle

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  • Youssif Mohamed Toum Elobaid
  • Jain Huang
  • Yongji Wang

Abstract

Presently pneumatic muscles (PMs) are used in various applications due to their simple construction, lightweight, and high force-to-weight ratio. However, pneumatic muscles are facing various problems due to their nonlinear characteristics and various uncertainties in real applications. To cope with the uncertainties and strong nonlinearity of a PM model, a nonlinear disturbance observer (NDO) is designed to estimate the lumped disturbance. Based on the disturbance observer, the tracking control of PM is studied. Stability analysis based on Lyapunov method with respect to our proposed control law is discussed. The simulation results show the validity, effectiveness, and enhancing robustness of the proposed methods.

Suggested Citation

  • Youssif Mohamed Toum Elobaid & Jain Huang & Yongji Wang, 2014. "Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-8, March.
    • Handle: RePEc:hin:jnlmpe:872093
    DOI: 10.1155/2014/872093
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