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Adaptive internal model control scheme for a pneumatic artificial muscle
Department of Electrical and Computer Science, University of Patras.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.
2013 (engelsk)Inngår i: European Control Conference (ECC), July 17-19, Zurich, Switzerland 2013, 2013, s. 772-777Konferansepaper, 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 nonlinear nature and time-varying parameters cause difficulties in modeling their characteristics and designing controllers for high-performance positioning systems. In this article, the model identification and control problem of a PAM is being considered. The identification of the PAM’s model parameters is being carried out by a Recursive Least Square (RLS) based algorithm, while an Internal Model Control (IMC) structure is being synthesized. Experimental studies are being utilized to prove the overall efficiency of the suggested control scheme, regarding: a) set-point tracking performance through selected positioning scenarios, b) robustness through disturbance cancellation, and c) adaptability through hysteresis shift compensation.

sted, utgiver, år, opplag, sider
2013. s. 772-777
HSV kategori
Forskningsprogram
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-35211Lokal ID: 9a5dff13-fc07-427c-9762-5da3e0fc4a03ISBN: 978-3-952-41734-8 (tryckt)OAI: oai:DiVA.org:ltu-35211DiVA, id: diva2:1008463
Konferanse
European Control Conference : 17/07/2013 - 19/07/2013
Merknad
Godkänd; 2013; 20130227 (geonik)Tilgjengelig fra: 2016-09-30 Laget: 2016-09-30 Sist oppdatert: 2017-12-18bibliografisk kontrollert

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http://www.nt.ntnu.no/users/skoge/prost/proceedings/ecc-2013/data/papers/0568.pdf

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