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As to the robot joint actuated by a pair of McKibben muscles, a CMAC neural network and PID based compound control algorithm is designed. The CMAC as a feed forward compensator realizes the reverse dynamic model of the robot joint. The PID controller realizes the feed back control in order to guarantee the stability of the system. The output of the compound controller is exerted to the robot joint...
A mu-synthesis controller of a four mass manipulator arm system with structured uncertainty is presented. The system with uncertainties on parameters of plants such as damping ratios and stiffness of gears is modeled to a LFT form. The process of finding a stabilizing controller for nominal and perturbed system is based on mu-synthesis method. The resulting controller has been tested in standard manipulator...
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