A fuzzy backstepping controller for a pneumatic muscle actuator system

P Carbonell; Z P Jiang; D W Repperger

doi:10.1109/isic.2001.971535

A fuzzy backstepping controller for a pneumatic muscle actuator system

P Carbonell, Z P Jiang, D W Repperger

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A nonlinear fuzzy backstepping controller is presented 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 and ultimately bounded

Original language	English
Title of host publication	Intelligent Control, 2001. (ISIC \&\#039;01). Proceedings of the 2001 IEEE International Symposium on
Publisher	IEEE
Pages	353-358
Number of pages	6
ISBN (Print)	0-7803-6722-7
DOIs	https://doi.org/10.1109/isic.2001.971535
Publication status	Published - 2001

Keywords

control

Research Beacons, Institutes and Platforms

Manchester Institute of Biotechnology

Access to Document

10.1109/isic.2001.971535

Cite this

@inproceedings{9527684e7c3f415fa23be4751fc103d6,

title = "A fuzzy backstepping controller for a pneumatic muscle actuator system",

abstract = "A nonlinear fuzzy backstepping controller is presented 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 and ultimately bounded",

keywords = "control",

author = "P Carbonell and Jiang, {Z P} and Repperger, {D W}",

year = "2001",

doi = "10.1109/isic.2001.971535",

language = "English",

isbn = "0-7803-6722-7",

pages = "353--358",

booktitle = "Intelligent Control, 2001. (ISIC \&\#039;01). Proceedings of the 2001 IEEE International Symposium on",

publisher = "IEEE",

address = "United States",

}

TY - GEN

T1 - A fuzzy backstepping controller for a pneumatic muscle actuator system

AU - Carbonell, P

AU - Jiang, Z P

AU - Repperger, D W

PY - 2001

Y1 - 2001

N2 - A nonlinear fuzzy backstepping controller is presented 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 and ultimately bounded

AB - A nonlinear fuzzy backstepping controller is presented 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 and ultimately bounded

KW - control

U2 - 10.1109/isic.2001.971535

DO - 10.1109/isic.2001.971535

M3 - Conference contribution

SN - 0-7803-6722-7

SP - 353

EP - 358

BT - Intelligent Control, 2001. (ISIC \&\#039;01). Proceedings of the 2001 IEEE International Symposium on

PB - IEEE

ER -

A fuzzy backstepping controller for a pneumatic muscle actuator system

Abstract

Keywords

Research Beacons, Institutes and Platforms

Access to Document

Fingerprint

Cite this