Switching Model Predictive Control of a Pneumatic Artificial Muscle

被引：10

作者：

Andrikopoulos, George ^{[1
]}

Nikolakopoulos, George ^{[2
]}

Arvanitakis, Ioannis ^{[1
]}

Manesis, Stamatis ^{[1
]}

机构：

[1] Univ Patras, Dept Elect & Comp Engn, GR-26500 Rion, Achaia, Greece

[2] Lulea Univ Technol, Control Engn Grp, SE-97187 Lulea, Sweden

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2013年 / 11卷 / 06期

关键词：

Feed forward control; fluidic muscle; model predictive control; piecewise affine system; pneumatic artificial muscle; TRACKING; SYSTEM;

D O I：

10.1007/s12555-012-0176-0

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, a switching Model Predictive Controller (sMPC) scheme for the position control of a Pneumatic Artificial Muscle (PAM) is being presented. The control scheme is based on a constrained linear and Piece Wise 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 were utilized in order to investigate and evaluate the efficacy of the suggested controller in the positioning problem of a PAM.

引用

页码：1223 / 1231

页数：9

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