Abstract
This paper presents active disturbance rejection tracking control for a nonlinear pneumatic muscle system. Unmodeled dynamics, varying parameters and external disturbances are merged into generalized disturbances in the pneumatic muscle system. An error-feedback controller is designed to guarantee tracking precision based on an extended state observer. Some experimental results are given to show the effectiveness of developed techniques in this paper.
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More From: International Journal of Control, Automation and Systems
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