Predictive angular control of pneumatic muscle antagonist joints based on T-S fuzzy modeling
Aims:This paper aims to improve the control accuracy of the pneumatic muscle antagonist joint.Methods:A T-S fuzzy model predictive control method for the angle tracking of pneumatic muscle antagonistic joints was proposed.A T-S fuzzy model for antagonistic joints was established and discretized.Based on the discrete T-S fuzzy model,a model predictive controller for antagonistic joints was designed;and the stability of the system was verified through the eigenvalue method.Results:Simulation experiments showed that compared to the traditional model predictive control,the T-S fuzzy model predictive controller reduced the average absolute error by 29.05% and 44.11% when tracking the angle of±15°and±10°,respectively.Conclusions:The proposed T-S fuzzy model predictive controller can improve the control accuracy of pneumatic muscle antagonist joints.
pneumatic muscle antagonist jointT-S fuzzy modelmodel predictive control
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