Lilly John H
Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY 40292, USA.
IEEE Trans Neural Syst Rehabil Eng. 2003 Sep;11(3):333-9. doi: 10.1109/TNSRE.2003.816870.
Adaptive tracking techniques are applied to pneumatic muscle actuators arranged in bicep and tricep configurations. The control objective is to force the joint angle to track a specified reference path. Mathematical models are derived for the bicep and tricep configurations. The models are nonlinear and in general time-varying, making adaptive control desirable. Stability results are derived, and the results of simulation studies are presented, contrasting the nonlinear adaptive control to a nonadaptive PID control approach.
自适应跟踪技术应用于以二头肌和三头肌配置排列的气动肌肉致动器。控制目标是迫使关节角度跟踪指定的参考路径。推导了二头肌和三头肌配置的数学模型。这些模型是非线性的，并且一般是时变的，这使得自适应控制成为必要。得出了稳定性结果，并给出了仿真研究结果，将非线性自适应控制与非自适应PID控制方法进行了对比。
