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Piecewise affine modeling and constrained optimal control for 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: IEEE transactions on industrial electronics (1982. Print), ISSN 0278-0046, E-ISSN 1557-9948, Vol. 61, no 2, p. 904-916Article in journal (Refereed) Published
Abstract [en]

In this article, the modeling and control problem of a Pneumatic Artificial Muscle (PAM) is being considered. The PAM is an actuator characterized by a decrease in the actuating length when pressurized. Its non-linear nature and time-varying parameters cause difficulties in modeling their characteristics, as well as in designing controllers for high-performance positioning systems. A constrained linear and PieceWise Affine (PWA) system model approximation is formulated and a control scheme composed of: a) a feedforward term regulating control input at specific setpoints, and b) a Constrained Finite Time Optimal Controller (CFTOC) handling any deviations from the system’s equilibrium points is being synthesized. Extended experimental studies are utilized to prove the efficacy of the suggested controller.

Place, publisher, year, edition, pages
2013. Vol. 61, no 2, p. 904-916
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-10601DOI: 10.1109/TIE.2013.2254094ISI: 000323492000028Scopus ID: 2-s2.0-84883001997Local ID: 96ccc4b3-6ac7-49db-88d5-e8abd3e1d56bOAI: oai:DiVA.org:ltu-10601DiVA, id: diva2:983546
Note
Validerad; 2013; 20130309 (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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