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Non-linear control of pneumatic artificial muscles
Department of Electrical and Computer Science, University of Patras.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Department of Electrical and Computer Engineering, University of Patras.
2013 (English)In: 21st IEEE Mediterranean Conference on Control and Automation, June 25-28, Platanias, Chania, Crete, Greece, 2013, 2013, 729-734 p., 6608804Conference paper (Refereed)
Abstract [en]

In this article, the control problem of Pneumatic Artificial Muscles is being considered. A non-linear PID structure is being synthesized, providing ameliorated compensation of the PAMs’ non-linear hysteretic phenomena and advanced robustness. Experimental studies are being utilized to prove the overall efficiency of the proposed control scheme regarding: a) set-point tracking performance for the position control of a single PAM and torsion angle control of an antagonistic PAM setup, as well as b) disturbance rejection in both single and antagonistic control scenarios.

Place, publisher, year, edition, pages
2013. 729-734 p., 6608804
Research subject
Control Engineering
URN: urn:nbn:se:ltu:diva-39862DOI: 10.1109/MED.2013.6608804Local ID: ec5ae031-1dc9-4c0f-8cc5-daf12f84d3f3ISBN: 978-1-4799-0995-7 (print)OAI: diva2:1013381
Mediterranean Conference on Control and Automation : 25/06/2013 - 28/06/2013
Godkänd; 2013; 20130415 (geonik)Available from: 2016-10-03 Created: 2016-10-03Bibliographically approved

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