A fuzzy backstepping controller for a Pneumatic Muscle Actuator system

P. Carbonell, Z. P. Jiang, D. W. Repperger

Research output: Contribution to conferencePaper

Abstract

A nonlinear fuzzy backstepping controller is presented in this paper for set-point regulation of a Pneumatic Muscle Actuator. Inflation and deflation are the two possible modes of operation of this actuator. Three fuzzy sets, one for each of both modes and one for the transition region are considered. Each fuzzy set is associated with a local backstepping controller. At the inflation and deflation regimes, the associated controllers are exact backstepping controllers, whereas a robust nonlinear backstepping controller is used at the transition regime and deals with regime uncertainty. The use of fuzzy membership functions provides a smooth controller. The closed-loop system is globally ultimately bounded.

Original languageEnglish (US)
Pages353-358
Number of pages6
StatePublished - Dec 1 2001
EventProceedings of the 2001 IEEE International Symposium on Intelligent Control ISIC '01 - Mexico City, Mexico
Duration: Sep 5 2001Sep 7 2001

Other

OtherProceedings of the 2001 IEEE International Symposium on Intelligent Control ISIC '01
CountryMexico
CityMexico City
Period9/5/019/7/01

Keywords

  • Fuzzy systems
  • Nonlinear control
  • Robust backstepping

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Carbonell, P., Jiang, Z. P., & Repperger, D. W. (2001). A fuzzy backstepping controller for a Pneumatic Muscle Actuator system. 353-358. Paper presented at Proceedings of the 2001 IEEE International Symposium on Intelligent Control ISIC '01, Mexico City, Mexico.