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Advanced nonlinear PID-based antagonistic control for pneumatic muscle actuators
Department of Electrical and Computer Science, University of Patras.ORCID iD: 0000-0002-9399-7801
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Department of Electrical and Computer Engineering, University of Patras.
2014 (English)In: IEEE transactions on industrial electronics (1982. Print), ISSN 0278-0046, E-ISSN 1557-9948, Vol. 61, no 12, p. 6926-6937, article id 6786031Article in journal (Refereed) Published
Abstract [en]

In this paper, the positioning control problem of pneumatic muscle actuators (PMAs) is being considered. A two-degree-of-freedom nonlinear proportional-integral-derivative structure is being synthesized, providing ameliorated compensation of the PMAs' nonlinear hysteretic phenomena and advanced robustness through disturbance cancellation. Experimental studies are being utilized to prove the overall efficiency of the proposed control scheme with regard to set-point tracking performance for the position control of a single PMA, torsion angle control of a nonsymmetrical antagonistic PMA setup, and disturbance rejection in both single and antagonistic control scenarios.

Place, publisher, year, edition, pages
2014. Vol. 61, no 12, p. 6926-6937, article id 6786031
Keywords [en]
Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-8591DOI: 10.1109/TIE.2014.2316255ISI: 000342282900046Scopus ID: 2-s2.0-84907494254Local ID: 71c7e014-f9c6-4adf-817c-b0089725a223OAI: oai:DiVA.org:ltu-8591DiVA, id: diva2:981529
Note
Validerad; 2014; 20140313 (geonik)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-07-10Bibliographically approved

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Andrikopoulos, GeorgiosNikolakopoulos, George

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