Switching model predictive control of a pneumatic artificial muscle

George Andrikopoulos; George Nikolakopoulos; Ioannis Arvanitakis; Stamatis Manesis

doi:10.1007/s12555-012-0176-0

Switching model predictive control of a pneumatic artificial muscle

George Andrikopoulos, George Nikolakopoulos, Ioannis Arvanitakis, Stamatis Manesis

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

10 Citations (Scopus)

Abstract

In this article, a switching Model Predictive Controller (sMPC) scheme for the position control of a Pneumatic Artificial Muscle (PAM) is being presented. The control scheme is based on a constrained linear and PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM and improve the overall model accuracy, and is composed of: a) a feed-forward term regulating control input at specific reference set-points, and b) a switching Model Predictive Controller handling any deviations from the system’s equilibrium points. Extended simulation studies were utilized in order to investigate and evaluate the efficacy of the suggested controller in the positioning problem of a PAM.

Original language	English
Pages (from-to)	1223-1231
Number of pages	9
Journal	International Journal of Control, Automation and Systems
Volume	11
Issue number	6
DOIs	https://doi.org/10.1007/s12555-012-0176-0
Publication status	Published - Dec 2013

Keywords

Feed forward control
fluidic muscle
model predictive control
piecewise affine system
pneumatic artificial muscle

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10.1007/s12555-012-0176-0

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title = "Switching model predictive control of a pneumatic artificial muscle",

abstract = "In this article, a switching Model Predictive Controller (sMPC) scheme for the position control of a Pneumatic Artificial Muscle (PAM) is being presented. The control scheme is based on a constrained linear and PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM and improve the overall model accuracy, and is composed of: a) a feed-forward term regulating control input at specific reference set-points, and b) a switching Model Predictive Controller handling any deviations from the system{\textquoteright}s equilibrium points. Extended simulation studies were utilized in order to investigate and evaluate the efficacy of the suggested controller in the positioning problem of a PAM.",

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author = "George Andrikopoulos and George Nikolakopoulos and Ioannis Arvanitakis and Stamatis Manesis",

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T1 - Switching model predictive control of a pneumatic artificial muscle

AU - Andrikopoulos, George

AU - Nikolakopoulos, George

AU - Arvanitakis, Ioannis

AU - Manesis, Stamatis

PY - 2013/12

Y1 - 2013/12

N2 - In this article, a switching Model Predictive Controller (sMPC) scheme for the position control of a Pneumatic Artificial Muscle (PAM) is being presented. The control scheme is based on a constrained linear and PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM and improve the overall model accuracy, and is composed of: a) a feed-forward term regulating control input at specific reference set-points, and b) a switching Model Predictive Controller handling any deviations from the system’s equilibrium points. Extended simulation studies were utilized in order to investigate and evaluate the efficacy of the suggested controller in the positioning problem of a PAM.

AB - In this article, a switching Model Predictive Controller (sMPC) scheme for the position control of a Pneumatic Artificial Muscle (PAM) is being presented. The control scheme is based on a constrained linear and PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM and improve the overall model accuracy, and is composed of: a) a feed-forward term regulating control input at specific reference set-points, and b) a switching Model Predictive Controller handling any deviations from the system’s equilibrium points. Extended simulation studies were utilized in order to investigate and evaluate the efficacy of the suggested controller in the positioning problem of a PAM.

KW - Feed forward control

KW - fluidic muscle

KW - model predictive control

KW - piecewise affine system

KW - pneumatic artificial muscle

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DO - 10.1007/s12555-012-0176-0

M3 - Article

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EP - 1231

JO - International Journal of Control, Automation and Systems

JF - International Journal of Control, Automation and Systems

IS - 6

ER -

Switching model predictive control of a pneumatic artificial muscle

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Keywords

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