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

Author

Minh, Tri Vo ; Tjahjowidodo, Tegoeh ; Ramon, Herman ; Van Brussel, Hendrik

Author_Institution

Mech. Eng. Dept., Div. PMA, Katholieke Univ. Leuven, Heverlee, Belgium

fYear

2009

fDate

14-17 July 2009

Firstpage

1082

Lastpage

1087

Abstract

Due to the inherent hysteresis in a PAM, the accompanying control of such actuator becomes complicated. In this paper, the pressure/length hysteresis is mathematically described by applying a Maxwell-slip model. The model of this hysteresis is then fed forward to compensate for the actuator nonlinearities. The designed controller is therefore just a simple PI-controller. It shows robust performance in PAM positioning control regarding not only at different equilibrium positions but also with different loads.

Keywords

PI control; control nonlinearities; control system synthesis; end effectors; feedback; feedforward; pneumatic actuators; position control; robust control; Maxwell-slip model; PAM end effector position; PAM positioning control; PI-control design; actuator nonlinearity; feedback control system; model-based feedforward hysteresis compensation; pneumatic artificial muscle control; position control; pressure/length hysteresis; robust performance; Friction; Hysteresis; Intelligent actuators; Inverse problems; Mechatronics; Muscles; Position control; Sliding mode control; Testing; Three-term control; Hysteresis Modeling; McKibben Artificial Muscle; Position Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-2852-6

Type

conf

DOI

10.1109/AIM.2009.5229730

Filename

5229730