Modelling and Angle Tracking Control for Multi-Chamber Soft Bending Pneumatic Muscle

In this letter, a multi-chamber soft bending pneumatic muscle (SBPM) is designed, which can achieve any-directional angle bending in space. The dynamic model of the multi-chamber SBPM is established by using Euler-Lagrange equation. To realize desired angle tracking control performances of the multi-chamber SBPM, an angle tracking control strategy is proposed. A nonlinear extended state observer (NESO) is designed to estimate states and uncertainties of the multi-chamber SBPM. Moreover, a linear error feedback controller (LEFC) is presented to achieve desired angle tracking control performances of the multi-chamber SBPM. Finally, experimental results of angle tracking control show that the proposed control strategy is effective to achieve desired angle tracking control performances.