Abstract:This paper presents a nonlinear optimal control scheme for a mechatronic system that consists of a guided carriage and an antagonistic pair of pneumatic muscles as actuators. Modelling leads to a system of nonlinear differential equations including polynomial approximations of the volume characteristic as well as the force characteristic of the pneumatic muscles. The proposed control has a cascade structure: the nonlinear normoptimal control of both pneumatic muscle pressures is based on an approximative solut… Show more
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