Generalized variable structure model reference adaptive control of one-link artificial muscle manipulator in two operating modes

Abstract

The classical techniques of linear and nonlinear control of the non-constant parameters systems or nonlinear systems (the case of robots) do not often give very acceptable results. This is due to the margin between the control system and the system model chosen to elaborate the control of the actuator. The adaptive control represents a solution to the modelling gaps because the exact knowledge of the system is not required. This control methodology is essentially based on the choice of the adaptive mechanism for the parameters controller. In this paper, the adaptive mechanism is chosen as a sliding regime for a dynamic variable structure. The association of the two types of control law gives a new type of control law, named the generalized variable structure model reference adaptive control.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>