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

George Andrikopoulos; George Nikolakopoulos; Ioannis Arvanitakis; Stamatis Manesis

doi:10.1109/TIE.2013.2254094

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

George Andrikopoulos, George Nikolakopoulos, Ioannis Arvanitakis, Stamatis Manesis

Research output: Contribution to journal › Article › peer-review

81 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 language	English
Article number	6484956
Pages (from-to)	904-916
Number of pages	13
Journal	IEEE Transactions on Industrial Electronics
Volume	61
Issue number	2
DOIs	https://doi.org/10.1109/TIE.2013.2254094
Publication status	Published - 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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10.1109/TIE.2013.2254094

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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.",

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AB - 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.

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

Abstract

Keywords

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