Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
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.ORCID iD: 0000-0003-0126-1897
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, Published 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.
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-35211Local ID: 9a5dff13-fc07-427c-9762-5da3e0fc4a03ISBN: 978-3-952-41734-8 (print)OAI: oai:DiVA.org:ltu-35211DiVA: diva2:1008463
Conference
European Control Conference : 17/07/2013 - 19/07/2013
Note
Godkänd; 2013; 20130227 (geonik)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-11-25Bibliographically approved

Open Access in DiVA

fulltext(1242 kB)22 downloads
File information
File name FULLTEXT01.pdfFile size 1242 kBChecksum SHA-512
91e2cd5229d1f199de0c53a3ca20e9fccb330055db613077aaa3ce4bc8daba4d7bfa777ae6fc5a5a8e4304bbc98dd14b80bf64bdcccca26f7b3f51f6c1d81ab1
Type fulltextMimetype application/pdf

Other links

http://www.nt.ntnu.no/users/skoge/prost/proceedings/ecc-2013/data/papers/0568.pdf

Search in DiVA

By author/editor
Andrikopoulos, GeorgiosNikolakopoulos, George
By organisation
Signals and Systems
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 22 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

isbn
urn-nbn

Altmetric score

isbn
urn-nbn
Total: 30 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf