Multi-parametric constrained optimal control of a pneumatic artificial muscle
2012 (English)In: 10th Portuguese Conference in Automatic Control: University of Madeira, July 16-18, 2012, 135-140 p.Conference paper (Refereed)
The Pneumatic Artificial Muscle (PAM) is a highly non-linear form of actuation that is characterized by a decrease in the actuating length when pressurized. Its non-linear nature and time-varying parameters cause difficulties in modelling their characteristics and designing controllers for high-performance positioning systems. In this article, the control problem of a PAM is considered. A constrained linear and PieceWise Affine (PWA) system model approximation is utilized and a controller 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 synthesized. Simulation studies are used to investigate the efficacy of the suggested controller.
Place, publisher, year, edition, pages
2012. 135-140 p.
Information technology - Automatic control
Informationsteknik - Reglerteknik
Research subject Control Engineering
IdentifiersURN: urn:nbn:se:ltu:diva-32220Local ID: 6a4c3fd3-2326-4c33-b161-bede26bc598aOAI: oai:DiVA.org:ltu-32220DiVA: diva2:1005454
Portuguese Conference in Automatic Control : 16/07/2012 - 18/07/2012
Godkänd; 2012; 20120527 (geonik)2016-09-302016-09-30Bibliographically approved