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

Chih Jer Lin, Chii Ruey Lin, Shen Kai Yu, Chun-Ta Chen

Research output: Contribution to journalArticle

52 Citations (Scopus)


Abstract This study investigated pressure/length hysteresis characteristics. Instead of the conventional force/length hysteresis model, a Prandtl-Ishlinskii (P-I) model of a dual pneumatic artificial muscle (PAM) system is presented. For the comparison, an alternative hysteresis model such as Bouc-Wen (B-W) model is also considered. All model parameters are identified by real code genetic algorithm (RCGA). Different feedback control strategies are combined with a feed-forward controller based on a P-I model for hysteresis compensation to reduce the tracking error of the dual PAM system. The experimental results validated the use of the proposed controller for trajectory tracking of PAM systems.

Original languageEnglish
Article number1710
Pages (from-to)35-45
Number of pages11
Publication statusPublished - 2015 Jan 1



  • Hysteresis
  • Pneumatic artificial muscle
  • Prandtl-Ishlinskii mode
  • Real code genetic algorithm
  • Sliding-model control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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