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Multi-parametric constrained optimal control of a pneumatic artificial muscle
Department of Electrical and Computer Science, University of Patras, Rio, Greece.ORCID-id: 0000-0002-9399-7801
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0003-0126-1897
Department of Electrical and Computer Engineering, University of Patras, Rio, Greece.
Department of Electrical and Computer Engineering, University of Patras, Rio, Greece.
2012 (engelsk)Inngår i: 10th Portuguese Conference in Automatic Control: University of Madeira, July 16-18, 2012, s. 135-140Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The Pneumatic Artificial Muscle (PAM) is a highly non-linear form of actuation that is characterized by a decrease in the actuating length when pressurized. Its non-linear nature and time-varying parameters cause difficulties in modelling their characteristics and designing controllers for high-performance positioning systems. In this article, the control problem of a PAM is considered. A constrained linear and PieceWise Affine (PWA) system model approximation is utilized and a controller composed of: a) a feedforward term regulating control input at specific setpoints, and b) a Constrained Finite Time Optimal Controller (CFTOC) handling any deviations from the system’s equilibrium points is synthesized. Simulation studies are used to investigate the efficacy of the suggested controller.

sted, utgiver, år, opplag, sider
2012. s. 135-140
Emneord [en]
Pneumatic Artificial Muscle, Piecewise Affine System, Optimal Control, Constrained Control, Feedforward Control
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URN: urn:nbn:se:ltu:diva-32220Lokal ID: 6a4c3fd3-2326-4c33-b161-bede26bc598aOAI: oai:DiVA.org:ltu-32220DiVA, id: diva2:1005454
Konferanse
Portuguese Conference in Automatic Control : 16/07/2012 - 18/07/2012
Merknad

Godkänd; 2012; 20120527 (geonik)

Tilgjengelig fra: 2016-09-30 Laget: 2016-09-30 Sist oppdatert: 2022-10-13bibliografisk kontrollert

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Andrikopoulos, GeorgiosNikolakopoulos, George

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