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Pneumatic artificial muscles: a switching model predictive control approach
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.
2013 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 21, no 12, p. 1653-1664Article in journal (Refereed) Published
Abstract [en]

In this article, a switching Model Predictive Controller (sMPC) for a Pneumatic Artificial Muscle (PAM) is presented. The control scheme is based on a switching PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM, while improving the overall model accuracy, and is composed of: a) a feed-forward term regulating control input at specific reference set-points, and b) a switching Model Predictive Controller handling any deviations from the system’s equilibrium points. Extended experimental studies are being presented that prove the overall scheme’s efficiency.

Place, publisher, year, edition, pages
2013. Vol. 21, no 12, p. 1653-1664
Keywords [en]
Pneumatic Muscle Actuators, Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-10779DOI: 10.1016/j.conengprac.2013.09.003ISI: 000329017200002Scopus ID: 2-s2.0-84888038874Local ID: 9a3742e4-c676-4ae2-b6a2-c2f62cee7957OAI: oai:DiVA.org:ltu-10779DiVA, id: diva2:983726
Note
Validerad; 2013; 20130907 (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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