Robust adaptive control and observer for a robot with pneumatic actuators
Published online by Cambridge University Press: 09 April 2002
Abstract
In this paper, the robust adaptive control and observer are considered for a pneumatic robot leg. This approach does not require a precise knowledge of the robot model physical parameters, only the adaptive upper bounds on the norm of the matrices model are used, which with the sliding mode guarantee the robustness of system. Convergence conditions and simulation results for the adaptive control and observer are presented.
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- © 2002 Cambridge University Press
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