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Robust adaptive control and observer for a robot with pneumatic actuators

Published online by Cambridge University Press:  09 April 2002

F. Errahimi ,
H. Cherrid ,
N. K. M'Sirdi  and
H. Abarkane
F. Errahimi
Affiliation:
Laboratoire signaux, systèmes et composants (S.S.C) FST., Fés-saiss, B.P 2202, Fés (MOROCCO)
H. Cherrid
Affiliation:
Laboratoire de Robotique de Paris (L.R.P.) 10–12 Av.de l'Europe,78140, Vélizy (FRANCE)
N. K. M'Sirdi
Affiliation:
Laboratoire de Robotique de Paris (L.R.P.) 10–12 Av.de l'Europe,78140, Vélizy (FRANCE)
H. Abarkane
Affiliation:
Laboratoire signaux, systèmes et composants (S.S.C) FST., Fés-saiss, B.P 2202, Fés (MOROCCO)
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Abstract

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.

Keywords

Adaptive control and observerSliding modesNonlinear systemPneumatic robot leg
Type
Research Article
Information
Robotica , Volume 20 , Issue 2 , March 2002 , pp. 167 - 173
Copyright
© 2002 Cambridge University Press

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