Active Model-Based Hysteresis Compensation and Tracking Control of Pneumatic Artificial Muscle
The hysteretic nonlinearity of pneumatic artificial muscle (PAM) is the main factor that degrades its tracking accuracy. This paper proposes an efficient hysteresis compensation method based on the active modeling control (AMC). Firstly, the Bouc–Wen model is adopted as the reference model to descri...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/1/364 |
| _version_ | 1797497494179938304 |
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| author | Yanding Qin Haoqi Zhang Xiangyu Wang Jianda Han |
| author_facet | Yanding Qin Haoqi Zhang Xiangyu Wang Jianda Han |
| author_sort | Yanding Qin |
| collection | DOAJ |
| description | The hysteretic nonlinearity of pneumatic artificial muscle (PAM) is the main factor that degrades its tracking accuracy. This paper proposes an efficient hysteresis compensation method based on the active modeling control (AMC). Firstly, the Bouc–Wen model is adopted as the reference model to describe the hysteresis of the PAM. Secondly, the modeling errors are introduced into the reference model, and the unscented Kalman filter is used to estimate the state of the system and the modeling errors. Finally, a hysteresis compensation strategy is designed based on AMC. The compensation performances of the nominal controller with without AMC were experimentally tested on a PAM. The experimental results show that the proposed controller is more robust when tracking different types of trajectories. In the transient, both the overshoot and oscillation can be successfully attenuated, and fast convergence is achieved. In the steady-state, the proposed controller is more robust against external disturbances and measurement noise. The proposed controller is effective and robust in hysteresis compensation, thus improving the tracking performance of the PAM. |
| first_indexed | 2024-03-10T03:20:00Z |
| format | Article |
| id | doaj.art-424bc940dd80410994049352b6957be7 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:20:00Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-424bc940dd80410994049352b6957be72023-11-23T12:21:04ZengMDPI AGSensors1424-82202022-01-0122136410.3390/s22010364Active Model-Based Hysteresis Compensation and Tracking Control of Pneumatic Artificial MuscleYanding Qin0Haoqi Zhang1Xiangyu Wang2Jianda Han3Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaTianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaTianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaTianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, ChinaThe hysteretic nonlinearity of pneumatic artificial muscle (PAM) is the main factor that degrades its tracking accuracy. This paper proposes an efficient hysteresis compensation method based on the active modeling control (AMC). Firstly, the Bouc–Wen model is adopted as the reference model to describe the hysteresis of the PAM. Secondly, the modeling errors are introduced into the reference model, and the unscented Kalman filter is used to estimate the state of the system and the modeling errors. Finally, a hysteresis compensation strategy is designed based on AMC. The compensation performances of the nominal controller with without AMC were experimentally tested on a PAM. The experimental results show that the proposed controller is more robust when tracking different types of trajectories. In the transient, both the overshoot and oscillation can be successfully attenuated, and fast convergence is achieved. In the steady-state, the proposed controller is more robust against external disturbances and measurement noise. The proposed controller is effective and robust in hysteresis compensation, thus improving the tracking performance of the PAM.https://www.mdpi.com/1424-8220/22/1/364pneumatic artificial muscleactive modelhysteresis compensationtrajectory tracking |
| spellingShingle | Yanding Qin Haoqi Zhang Xiangyu Wang Jianda Han Active Model-Based Hysteresis Compensation and Tracking Control of Pneumatic Artificial Muscle Sensors pneumatic artificial muscle active model hysteresis compensation trajectory tracking |
| title | Active Model-Based Hysteresis Compensation and Tracking Control of Pneumatic Artificial Muscle |
| title_full | Active Model-Based Hysteresis Compensation and Tracking Control of Pneumatic Artificial Muscle |
| title_fullStr | Active Model-Based Hysteresis Compensation and Tracking Control of Pneumatic Artificial Muscle |
| title_full_unstemmed | Active Model-Based Hysteresis Compensation and Tracking Control of Pneumatic Artificial Muscle |
| title_short | Active Model-Based Hysteresis Compensation and Tracking Control of Pneumatic Artificial Muscle |
| title_sort | active model based hysteresis compensation and tracking control of pneumatic artificial muscle |
| topic | pneumatic artificial muscle active model hysteresis compensation trajectory tracking |
| url | https://www.mdpi.com/1424-8220/22/1/364 |
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