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Dynamic models of pneumatic artificial muscles (PAMs) are important for simulation of the movement dynamics of the PAM-based actuators and also for their control. The simple models of PAMs are geometric models, which can be relatively easy used under certain simplification for obtaining of the static and dynamic characteristics of the pneumatic artificial(More)
The paper contains information about the function and basic properties of the actuator based on pneumatic artificial muscles. It describes the design method of control structure of such actuator and shows the nonlinear static and dynamic characteristics of this actuator. The step responses and the non-linear static and dynamic characteristics were measured(More)
Dynamic simulation model of the actuator with two pneumatic artificial muscles in antagonistic connection was designed and built in Matlab Simulink environment. The basis for this simulation model was dynamic model of the pneumatic actuator based on advanced geometric muscle model. The main dynamics characteristics of such actuator were obtained by model(More)
Pneumatic muscle actuator exhibits strong nonlinear behavior and it requires use advanced control algorithms based also on computational intelligence techniques as for example hybrid fuzzy adaptive control. These sophisticated control methods could be capable of handling the system's nonlinear properties. In the paper there is presented nonlinear dynamic(More)
Pneumatic muscle actuators usually use various non-linear control techniques in order to improve their performance. Therefore a hybrid adaptive control scheme with reference model was designed where a conventional PD controller in the feedforward branch and a fuzzy controller in the adaptation branch were used. In the paper two types of fuzzy adaptive(More)
The pneumatic actuator with artificial muscles in antagonistic connection was designed and realized as result of several research projects solved at the authors' workplace. Three simulation models of this actuator using different muscle models were created in Matlab/Simulink environment for obtaining of some actuator dynamic characteristics. The position of(More)
Usage of pneumatic artificial muscles as actuators of manipulators is due to their highly nonlinear characteristics conditional by using the nonlinear control algorithms. Hybrid fuzzy adaptive control presented in the paper consists of a linear PD controller in the feedforward branch and a fuzzy adaptive controller with reference model in the adaptation(More)
From a control point of view, the biomass combustion is extremely complex process with significant dynamic couplings among variables and a number of measurable and non-measurable disturbances. The relationships among these variables are usually highly non-linear with long time-delays. Therefore, it is often necessary to use computational intelligence(More)
An actuator consisting of a pair of pneumatic artificial muscles in antagonistic connection belongs to the nonconventional actuators with some properties similar to biological muscles. Pneumatic muscle actuators are characterized by several appealing properties such as cleanness, structural simplicity and natural compliance. But there are also their(More)