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

fYear

2013

fDate

25-28 June 2013

Firstpage

729

Lastpage

734

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control & Automation (MED), 2013 21st Mediterranean Conference on

Conference_Location

Chania

Print_ISBN

978-1-4799-0995-7

Type

conf

DOI

10.1109/MED.2013.6608804

Filename

6608804