Piecewise affine modeling and constrained optimal control for a pneumatic artificial muscle

George Andrikopoulos, George Nikolakopoulos, Ioannis Arvanitakis, Stamatis Manesis

Research output: Contribution to journalArticle

55 Citations (Scopus)

Abstract

In this paper, the modeling and control problem of a pneumatic artificial muscle (PAM) is being considered. The PAM is an actuator characterized by a decrease in the actuating length when pressurized. Its nonlinear nature and time-varying parameters cause difficulties in modeling their characteristics, as well as in designing controllers for high-performance positioning systems. A constrained linear and piecewise affine system model approximation is formulated, and a control scheme composed of the following is being synthesized: 1) a feedforward term regulating the control input at specific set points and 2) a constrained finite-time optimal controller handling any deviations from the system's equilibrium points. Extended experimental studies are utilized to prove the efficacy of the suggested controller.

Original languageEnglish
Article number6484956
Pages (from-to)904-916
Number of pages13
JournalIEEE Transactions on Industrial Electronics
Volume61
Issue number2
DOIs
Publication statusPublished - 2014

Keywords

  • Constrained control
  • feedforward control
  • fluidic muscle
  • optimal control
  • piecewise affine (PWA) system
  • pneumatic muscle actuator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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