Controller design involving gain scheduling for a large scale pneumatic muscle actuator

A gain-scheduled controller is designed for regulating the response of a large-scale pneumatic muscle actuator device which has inherently nonlinear dynamics. The tracking paradigm consists of a triangular-wave desired force input signal. To compute the appropriate scheduled gains, a steady state and transient analysis of the pneumatic muscle system's response were conducted within the dynamic range of its operation. Experimental data are presented on the controller designed.

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