Position control of a single pneumatic artificial muscle with hysteresis compensation based on modified Prandtl–Ishlinskii model

2017 ◽  
Vol 28 (2) ◽  
pp. 131-140 ◽  
Author(s):  
Xizhe Zang ◽  
Yixiang Liu ◽  
Shuai Heng ◽  
Zhenkun Lin ◽  
Jie Zhao
Keyword(s):  
Position Control ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Hysteresis Compensation

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

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.

Operating Modes of Pneumatic Artificial Muscle Actuator

2013 ◽  
Vol 308 ◽  
pp. 39-44 ◽  
Author(s):  
Mária Tóthová ◽  
Ján Piteľ ◽  
Jana Boržíková
Keyword(s):  
Position Control ◽  
Artificial Muscle ◽  
Pneumatic Actuator ◽  
Variable Pressure ◽  
Artificial Muscles ◽  
Pneumatic Artificial Muscle ◽  
Operating Modes ◽  
Main Requirement ◽  
Pneumatic Artificial Muscles ◽  
Operation Characteristics

The paper describes operating modes of the PAM based actuator consisting of two pneumatic artificial muscles (PAMs) in antagonistic connection. The artificial muscles are acting against themselves and resultant position of the actuator is given by equilibrium of their forces according to different pressures in muscles. The main requirement for operation of such pneumatic actuator is uniform movement and accurate arm position control according to input desired variable. There are described in paper operation characteristics of the pneumatic artificial muscle in variable pressure and then operation characteristics of the pneumatic artificial muscle actuator consisting of two muscles in antagonistic connection.

scholarly journals Sliding mode control of pam actuator in LabVIEW environment

2010 ◽  
Vol 5 (1-2) ◽  
pp. 249-253
Author(s):  
János Gyeviki ◽  
József Sárosi ◽  
Antal Véha ◽  
Péter Toman
Keyword(s):  
Flow Rate ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Industrial Applications ◽  
Pneumatic Artificial Muscle ◽  
Air Mass ◽  
Pneumatic Muscle ◽  
Position Controller

As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is a very nonlinear time-variant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution of this paper is a robust position control method based on sliding mode for pneumatic muscle actuator. Finally, it presents experimental results.

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