Abstract
This paper presents an adaptive backstepping controller for a mechanism of pneumatic muscle actuators via an adaptive extended state observer. A dynamic model of the mechanism is established with two unknown parameters estimated by using adaptive laws. An adaptive extended state observer is established to estimate total disturbances and states of the mechanism. Moreover, adaptive extended state observer gains are obtained by adaptive laws and parallel D-eigenvalues, whose time-varying multiplier $n$ th-order derivatives are derived by tracking differentiators. Finally, a nonlinear adaptive backstepping controller is designed and the effectiveness of the proposed method is expressed by experimental results.
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