%0 Journal Article
%T Position control for a two
%A Ling Zhao
%A Linlin Ge
%A Tao Wang
%J Transactions of the Institute of Measurement and Control
%@ 1477-0369
%D 2018
%R 10.1177/0142331216683246
%X In this paper, position control is addressed for a two-joint robot finger system driven by pneumatic artificial muscles. It is hard to obtain high precision control for a two-joint robot finger system due to coupling and nonlinearities. A two-input and two-output decoupling problem is solved via active disturbance rejection control without complicated calculations. An extended state observer is designed to estimate the nonlinearities. Furthermore, the stability of the two-joint robot finger system is shown by a back-stepping method. Results from experiments are demonstrated to show the effectiveness of the proposed control approach
%K Position control
%K pneumatic artificial muscles
%K two-joint finger robot systems
%K decoupling control
%K back-stepping control
%U https://journals.sagepub.com/doi/full/10.1177/0142331216683246