Title :
Non-linear control of Pneumatic Artificial Muscles
Author :
Andrikopoulos, G. ; Nikolakopoulos, George ; Manesis, Stamatis
Author_Institution :
Electr. & Comput. Eng. Dept., Univ. of Patras, Rio, Greece
Abstract :
In this article, a non-linear PID structure is being synthesized, providing ameliorated compensation of the Pneumatic Artificial Muscle´s (PAM) non-linear hysteretic phenomena and advanced robustness. Experimental studies are being utilized to prove the overall efficiency of the non-linear control scheme regarding: a) set-point tracking performance for the position control of a single PAM and torsion angle control of an antagonistic PAM setup, as well as b) disturbance rejection in both single and antagonistic control scenarios.
Keywords :
electroactive polymer actuators; mechanical variables control; nonlinear control systems; pneumatic actuators; position control; three-term control; torsion; PAM nonlinear hysteretic phenomenon; antagonistic PAM control setup; disturbance rejection; nonlinear PID control structure; nonlinear control scheme; pneumatic artificial muscles; position control; proportional-integral-derivative control; set-point tracking performance; single PAM control setup; torsion angle control; Linearity; Muscles; PD control; Position control; Process control; Pulleys; Robustness;
Conference_Titel :
Control & Automation (MED), 2013 21st Mediterranean Conference on
Conference_Location :
Chania
Print_ISBN :
978-1-4799-0995-7
DOI :
10.1109/MED.2013.6608804
