Robust Iterative Learning Control for Pneumatic Muscle with State Constraint and Model Uncertainty
Kun Qian Zhenghong Li Ahmed Asker Zhiqiang Zhang Shengquan Xie Kun Qian Zhenghong Li Ahmed Asker Zhiqiang Zhang Shengquan Xie
In this paper, we propose a novel iterative learning control (ILC) scheme for precise state tracking of pneumatic muscle (PM) actuators. Two critical issues are considered in our scheme: 1) state constraints on PM position and velocity; 2) uncertainties of the PM model. Based on the three-element form, a PM model is constructed that takes both parametric and nonparametric uncertainties into consid...