人工肌肉自适应预测控制

Adaptive Controlling of Artificial Muscle System with Predictive Algorithm

人工肌肉是一种广泛应用于医疗机器人、工业机器人等领域的柔性驱动器。本文采用零极点配置自适应预测控制方案 ,对系统的滞后进行了补偿 ,试验结果表明 。

The artificial muscles are flexible actuators which are widely used in the fields of medical robots, industrial robots, and etc. This paper discusses adaptive control for artificial muscle systems using predictive controller based on pole-zero placement. Experimental results show that the control scheme is effective to enhance the controlling speed and precision of artificial muscle systems.