現今多國社會面臨高齡化之挑戰，為此醫療輔具抑或輔助機器人等相關領域需求也與日俱增，其中氣壓肌肉致動器具有高功率重量比、成本低廉、富可撓性、易於清潔及維護和安全性佳等優點使其在相關領域極具開發潛力，但氣壓肌肉本身屬於複合材料，且氣體本身的特性導致其模型高度非線性化、參數時變及遲滯現象等問題發生，使其在快速精密控制上充滿挑戰。故本論文以物理模型為基礎開發適應性積分逆步控制器，以使由雙氣壓肌肉驅動之單自由度機械手臂能在不同頻率輸入下皆有良好的追跡效能。本論文之機械手臂為由兩支氣壓肌肉對拉組成，在模型建立上為避免氣壓肌肉過拉的問題使其必須存在預先收縮量；在控制上，利用逆步控制
理論及李亞普諾夫法則以確保系統之穩定性，並在系統中加入積分項，以使控制器提供預先修正量並提升控制性能；最後加入適應性控制，以梯度下降法使參數更新來使追跡誤差下降。由最後實驗數據可以得到，本論文所提出之適應性積分逆步控制器在 0.1Hz∼1Hz 正弦波輸入下皆能有精準的追跡效果。實際數據上，從低至高頻之根均方誤差 (RMSE) 座落於 0.0454◦∼0.5042◦。

Nowadays many countries are facing the challenge of entering an aged society. That made the need for medical assistive device and assistive robot is being increasing. Pneumatic muscle actuator (PMA) has the advantages of high power-to-weight ratio, low cost, full of pliability, easy to clean and maintain, and inherent safety which make it have the potential developing in the relative fields. However, the complex material composition and the compressibility of air make it has the characteristics of high nonlinearity, time varying and hysteresis, which posing challenges to fast and precise motion control. To deal with the problems mentioned above, the adaptive integral backstepping controller based on the physics-based model is developed in this thesis to achieve the accurate and consistence tracking performance of a double PMAs actuated 1-DOF manipulator in various frequencies of input. The manipulator which is used in this thesis is comprised of 2 PMAs pulling each other, so the pre-stretch length of each PMA must be considered in the model building to avoid the overstretching. In control method, we used backstepping theorem as the basis, then using Lyapunov’s theorem to assure the stability of the system. Also, the integral state is augmented to the system to make controller provide pre-correction quantity to prove the steady-state tracking performance. Then, the adaptive algorithm based on gradient descent method is applied to achieve minimum tracking errors at various frequencies. The experiment results show that the adaptive-integral-backstepping controller achieve precise and consistence tracking performance in 0.1Hz to 1Hz sine wave input. Specifically, the root mean square error of all frequencies are in the range of 0.0454◦∼0.5042◦.

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