Robust adaptive control approach for pneumatic artiﬁcial muscle system with actuator faults

In this work, the angle tracking algorithm for a pneumatic artificial muscle-actuated mechanism is studied. The control system is subject to both multiplicative and additive actuator faults. Lyapunov synthesis is used to design controller. The uncertainties and external disturbances are dealt with according to robust adaptive strategy. The filtering error of closed-loop system may converge to the small neighour of origin even if both multiplicative and additive actuator faults happen.