Model-Free Adaptive Iterative Learning Control for A Pneumatic Muscle-Driven Robot

Abstract

This paper is based on pneumatic muscles. The pneumatic muscles have the characteristics of nonlinear, difficult modeling and repeated training of the aerodynamic muscles. Aiming at these characteristics and precise tracking of the training trajectory, the model-free adaptive iterative learning control method for the pneumatic muscle is proposed. The adaptive iterative learning pneumatic muscle control method only designs the iterative learning law according to the input and output information during the iterative operation of the system, and achieves progressive tracking of the desired track of the pneumatic muscle.