Pneumatic muscle actuator exhibits strong nonlinear behavior and it requires use advanced control algorithms based also on computational intelligence techniques as for example hybrid fuzzy adaptive control. These sophisticated control methods could be capable of handling the system's nonlinear properties. In the paper there is presented nonlinear dynamic model of one-DOF pneumatic muscle actuator for use as reference model in adaptation mechanism of hybrid adaptive fuzzy controller. This dynamic model was designed using different muscle models and some simulation results are presented in the paper.
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