Details

Autor(en) / Beteiligte

• Andrikopoulos, George
• Nikolakopoulos, George
• Arvanitakis, Ioannis
• Manesis, Stamatis

Titel

Piecewise Affine Modeling and Constrained Optimal Control for a Pneumatic Artificial Muscle

Ist Teil von

• IEEE transactions on industrial electronics (1982), 2014-02, Vol.61 (2), p.904-916

Ort / Verlag

New York: IEEE

Erscheinungsjahr

2014

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• In this paper, 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 nonlinear 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 system model approximation is formulated, and a control scheme composed of the following is being synthesized: 1) a feedforward term regulating the control input at specific set points and 2) a constrained finite-time optimal controller handling any deviations from the system's equilibrium points. Extended experimental studies are utilized to prove the efficacy of the suggested controller.