Extended-State-Observer-Based Super Twisting Control for Pneumatic Muscle Actuators

This paper presents a tracking control method for pneumatic muscle actuators (PMAs). Considering that the PMA platform only feedbacks position, and velocity disturbances cannot be observed directly, we use extended-state-observer (ESO) simultaneously estimating system states by using measurable variables. Integrated with ESO, super twisting controller (STC) is design based on estimated to realize high-precision tracking. According Lyapunov theorem, stability of closed-loop ensured. Simulation experimental studies are conducted, results show convergence ESO effectiveness proposed method.