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

George Andrikopoulos, George Nikolakopoulos, Ioannis Arvanitakis, Stamatis Manesis

    Research output: Contribution to journalArticlepeer-review

    77 Citations (Scopus)


    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
    Issue number2
    Publication statusPublished - 2014


    • 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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