Abstract
This article considers modeling and control of a special type of pneumatic actuator, called Artificial Pneumatic Muscle (APM). The APM is able to exhibits many of the properties found in real biological muscles. Contrary to its simple design, the control of APM is very complex due to its nonlinearity, compressibility of air, time varying properties and difficulties in modeling. In order to overcome this problem, adaptive control law based on APM fuzzy dynamic model is proposed here. The optimal architecture of the fuzzy model is determined by using an APM approximate analytical model, whilst the structure and parameters of the low order fuzzy systems are determined through fuzzy clustering of measured deta. The proposed control law is verified by computer simulation.
