Abstract: A single degree freedom pneumatic artificial muscle spring mass system was built. An adaptive fuzzy CMAC (AFCMAC) was setup to track and control the pneumatic artificial muscle system. With the parallel supervision of discrete anti saturation PID (DASPID) there is few too big tracking error and pressure fluctuation in the beginning of control process, which makes the online real time self adjustment of AFCMAC possible. The online real time self adjustment ability improves the control performance of the adaptive fuzzy CMAC, and finally the spring mass system is entirely controlled by AFCMAC. In the end, the comparative study of control performance between DASPID and CMAC was carried out. The experimental results suggest that in nonlinear condition, AFCMAC could get better tracking performance than DASPID.

Key words: pneumatic artificial muscle, adaptive fuzzy cerebellar model articulation controller(AFCMAC), position tracking control