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 |
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Article number | 6484956 |
Pages (from-to) | 904-916 |
Number of pages | 13 |
Journal | IEEE Transactions on Industrial Electronics |
Volume | 61 |
Issue number | 2 |
DOIs | |
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