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...
