Switching model predictive control of a pneumatic artificial muscle

George Andrikopoulos, George Nikolakopoulos, Ioannis Arvanitakis, Stamatis Manesis

    Research output: Contribution to journalArticlepeer-review

    9 Citations (Scopus)


    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 languageEnglish
    Pages (from-to)1223-1231
    Number of pages9
    JournalInternational Journal of Control, Automation and Systems
    Issue number6
    Publication statusPublished - Dec 2013


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


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