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Switching model predictive control of a pneumatic artificial muscle
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
Electrical and Computer Engineering Department, University of Patras.
Electrical and Computer Engineering Department, University of Patras.
2013 (English)In: International Journal of Control, Automation and Systems, ISSN 1598-6446, E-ISSN 2005-4092, Vol. 11, no 6, p. 1223-1231Article 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 and improve 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 simulation studies indicate the overall scheme's efficiency.

Place, publisher, year, edition, pages
2013. Vol. 11, no 6, p. 1223-1231
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-12967DOI: 10.1007/s12555-012-0176-0ISI: 000327674100017Scopus ID: 2-s2.0-84890745937Local ID: c1de2c35-64e2-437a-9f0f-b561092a1b80OAI: oai:DiVA.org:ltu-12967DiVA, id: diva2:985918
Note
Validerad; 2013; 20130713 (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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  • apa
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Output format
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