Active Model Based Control for Pneumatic Artificial Muscle

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	Active Model Based Control for Pneumatic Artificial Muscle
	Zhang DH(张道辉); Zhao XG(赵新刚); Han JD(韩建达)
刊名	IEEE Transactions on Industrial Electronics
	2017
卷号	64 期号:2 页码:1686-1695
关键词	Pneumatic artifial muscle (PAM) model error active model based compensation
ISSN号	0278-0046
通讯作者	韩建达
产权排序	1
中文摘要	In this paper, an active model based control scheme is developed for the Pneumatic Artificial Muscle (PAM), to compensate for the uncertainties in the dynamics model of PAM. Firstly, a simplified three-element model with respect to a specific range of pressure is formulated as the reference model. Secondly, a Kalman filter is adopted to actively estimate the errors involved in the reference model, especially while the PAM was working at the pressure outside the specific range where the reference model was built. Finally, a compensation control is proposed using the estimated errors to reject the modeling errors and improve the performance of the PAM. Experiments are conducted on a one degree-of-freedom (DOF) testbed actuated by PAM. The experimental results with and without the active-model-based compensation are presented and compared to demonstrate the improvements of the proposed scheme.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
研究领域[WOS]	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
关键词[WOS]	SLIDING-MODE ; ACTUATORS
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000395826100085
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/19249]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Zhang DH,Zhao XG,Han JD. Active Model Based Control for Pneumatic Artificial Muscle[J]. IEEE Transactions on Industrial Electronics,2017,64(2):1686-1695.
APA	Zhang DH,Zhao XG,&Han JD.(2017).Active Model Based Control for Pneumatic Artificial Muscle.IEEE Transactions on Industrial Electronics,64(2),1686-1695.
MLA	Zhang DH,et al."Active Model Based Control for Pneumatic Artificial Muscle".IEEE Transactions on Industrial Electronics 64.2(2017):1686-1695.