Cascade position control of a single pneumatic artificial muscle–mass system with hysteresis compensation

Hysteresis modeling and tracking control for a dual pneumatic artificial muscle system using Prandtl–Ishlinskii model

“…where F static is the static force from the isometric model and F hysteresis is the extracted force/length hysteresis force [16]. The isometric model can be obtained using the isometric experimental setup as shown in Fig.…”

“…Eq. (4) shows that the isometric model resembles that in the literature [16], but the isometric model is not used for the proposed control algorithm. As described below, the hysteresis force obtained by the isometric model is later used for model verification.…”

“…Therefore, many researchers proposed various mathematical models of hysteresis [3,14]. For example, Minh et al [14,16] analogized the hysteresis of a PAM to the presliding regime of mechanical friction and proposed a Maxwell-slip model for modeling PAM hysteresis to describe the extracted force/length hysteresis force F hysteresis . The proposed model based on the hysteresis function with nonlocal memory adequately described the contributing causes of PAM hysteresis.…”

Control of pneumatic artificial muscle system through experimental modelling

“…Ahn and Nguyen [11] adopted a switching control approach based on learning vector quantization neural networks for compensating external load variation. Approaches based on H 1 control [12], sliding-mode control [13], PID control enhanced with a full state observer and PID control with inner pressure loop [14] have been compared by Pujana-Arrese et al [15] with the conclusion that the final approach performed satisfactorily to step response throughout the entire displacement range of their developed sdof manipulator unlike the other ones.…”

“…To the best of the author's knowledge, this is the first attempt to characterise the PAM dynamics through spectral analysis. The obtained PAM dynamics model is used to develop a PID position controller with an inner pressure loop inspired by [4,14,15]. To design the PAM pressure regulator, a set of flow characterisation experiments are performed to record the variation of the rate of change in PAM pressure with downstream to upstream pressure ratio for discretized values of valve flow signal.…”