The emphasis is application research of position servo control system in squirming robot based on pneumatic columnar elastic shell actuator in this article.
本文的重点是基于气动橡胶驱动器的蠕动机器人位置伺服控制系统的应用性研究。
Pneumatic PWM position servo system is nonlinear system. The satisfied results are difficult to be obtained with traditional control method while the friction force of cylinder is large.
气动脉宽调制位置伺服系统是非线性的系统，在气缸摩擦力较大的情况下，采用传统的控制方法难以取得满意的效果。
The pneumatic position servo system is studied by self-tuning adaptive control theory in this dissertation.
本文运用自校正自适应控制理论对气动位置伺服控制系统进行了研究。
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