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Adaptive internal model control scheme for a pneumatic artificial muscle
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: European Control Conference (ECC), July 17-19, Zurich, Switzerland 2013, 2013, 772-777 p.Conference paper (Refereed)
Abstract [en]

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 nonlinear nature and time-varying parameters cause difficulties in modeling their characteristics and designing controllers for high-performance positioning systems. In this article, the model identification and control problem of a PAM is being considered. The identification of the PAM’s model parameters is being carried out by a Recursive Least Square (RLS) based algorithm, while an Internal Model Control (IMC) structure is being synthesized. Experimental studies are being utilized to prove the overall efficiency of the suggested control scheme, regarding: a) set-point tracking performance through selected positioning scenarios, b) robustness through disturbance cancellation, and c) adaptability through hysteresis shift compensation.

Place, publisher, year, edition, pages
2013. 772-777 p.
Research subject
Control Engineering
URN: urn:nbn:se:ltu:diva-35211Local ID: 9a5dff13-fc07-427c-9762-5da3e0fc4a03ISBN: 978-3-952-41734-8OAI: diva2:1008463
European Control Conference : 17/07/2013 - 19/07/2013
Godkänd; 2013; 20130227 (geonik)Available from: 2016-09-30 Created: 2016-09-30Bibliographically approved

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