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pneumatic robot leg

Robotica (1)

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Robust adaptive control and observer for a robot with pneumatic actuators
F. Errahimi, H. Cherrid, N. K. M'Sirdi, H. Abarkane
Journal:

Robotica / Volume 20 / Issue 2 / March 2002

Published online by Cambridge University Press:

09 April 2002, pp. 167-173
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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.