Control of a pneumatic artificial muscle (PAM) with model-based hysteresis compensation

2009 ◽  
Author(s):  
Tri Vo Minh ◽  
Tegoeh Tjahjowidodo ◽  
Herman Ramon ◽  
Hendrik Van Brussel
Keyword(s):  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Hysteresis Compensation ◽  
Model Based

scholarly journals An Adaptive Fast Terminal Sliding Mode Controller of Exercise-Assisted Robotic Arm for Elbow Joint Rehabilitation Featuring Pneumatic Artificial Muscle Actuator

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 118
Author(s):  
Huu Tho Nguyen ◽  
Van Chon Trinh ◽  
Thanh Danh Le
Keyword(s):  
Fuzzy Logic ◽  
Online Learning ◽  
Elbow Joint ◽  
Artificial Muscle ◽  
Learning Ability ◽  
Experimental Result ◽  
Robotic Arm ◽  
Pneumatic Artificial Muscle ◽  
Model Based ◽  
Fuzzy Logic Technique

Due to the time-varying nonlinear dynamic, uncertain model and hysteresis characteristics of the pneumatic artificial muscle (PAM) actuator, it is not easy to apply model-based control algorithms for monitoring, as well as controlling, the operation of systems driven by PAM actuators. Hence, the main aim of this work is to propose an intelligent controller named adaptive sliding controller adding compensator (ASC + C) to operate a robotic arm, featuring a pneumatic artificial muscle actuator, which assists rehabilitation exercise of the elbow joint function. The structure of the proposed controller is a combination between the fuzzy logic technique and Proportional Integral Derivative (PID) algorithm. In which, the input of fuzzy logic controller is the sliding surface, meanwhile, its output is the estimated value of the unknown nonlinear function, meaning that the model-based requirement is released. A PID controller works as a compensator with online learning ability and is designed to compensate because of the approximate error and hysteresis characteristic. Additionally, to improve convergence and to obtain stability, a fast terminal sliding manifold is introduced and online learning laws for parameters of the controller are attainted through the stable criterion of Lyapunov. Finally, an experimental apparatus is also fabricated to evaluate control response of the system. The experimental result confirmed strongly the ability of the proposed controller, which indicates that the ASC + C can obtain a steady state tracking error less than 5 degrees and a position response without overshoot.

scholarly journals Active Model-Based Hysteresis Compensation and Tracking Control of Pneumatic Artificial Muscle

Sensors ◽  
2022 ◽  
Vol 22 (1) ◽  
pp. 364
Author(s):  
Yanding Qin ◽  
Haoqi Zhang ◽  
Xiangyu Wang ◽  
Jianda Han
Keyword(s):  
Unscented Kalman Filter ◽  
Reference Model ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Tracking Accuracy ◽  
External Disturbances ◽  
Hysteresis Compensation ◽  
Modeling Errors ◽  
Active Modeling ◽  
Main Factor

The hysteretic nonlinearity of pneumatic artificial muscle (PAM) is the main factor that degrades its tracking accuracy. This paper proposes an efficient hysteresis compensation method based on the active modeling control (AMC). Firstly, the Bouc–Wen model is adopted as the reference model to describe the hysteresis of the PAM. Secondly, the modeling errors are introduced into the reference model, and the unscented Kalman filter is used to estimate the state of the system and the modeling errors. Finally, a hysteresis compensation strategy is designed based on AMC. The compensation performances of the nominal controller with without AMC were experimentally tested on a PAM. The experimental results show that the proposed controller is more robust when tracking different types of trajectories. In the transient, both the overshoot and oscillation can be successfully attenuated, and fast convergence is achieved. In the steady-state, the proposed controller is more robust against external disturbances and measurement noise. The proposed controller is effective and robust in hysteresis compensation, thus improving the tracking performance of the PAM.

Cascade position control of a single pneumatic artificial muscle–mass system with hysteresis compensation

Mechatronics ◽  
2010 ◽  
Vol 20 (3) ◽  
pp. 402-414 ◽  
Author(s):  
Tri Vo Minh ◽  
Tegoeh Tjahjowidodo ◽  
Herman Ramon ◽  
Hendrik Van Brussel
Keyword(s):  
Muscle Mass ◽  
Position Control ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Mass System ◽  
Hysteresis Compensation
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