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

doi:10.1016/j.mechatronics.2015.03.006

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^*

^*Corresponding author for this work

Department of Mechatronic Engineering

Research output: Contribution to journal › Article › peer-review

109 Citations (Scopus)

Abstract

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 language	English
Article number	1710
Pages (from-to)	35-45
Number of pages	11
Journal	Mechatronics
Volume	28
DOIs	https://doi.org/10.1016/j.mechatronics.2015.03.006
Publication status	Published - 2015 Jun 1

Keywords

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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10.1016/j.mechatronics.2015.03.006

Cite this

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

abstract = "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.",

keywords = "Hysteresis, Pneumatic artificial muscle, Prandtl-Ishlinskii mode, Real code genetic algorithm, Sliding-model control",

author = "Lin, {Chih Jer} and Lin, {Chii Ruey} and Yu, {Shen Kai} and Chen, {Chun Ta}",

note = "Publisher Copyright: {\textcopyright} 2015 Elsevier Ltd.",

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doi = "10.1016/j.mechatronics.2015.03.006",

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T1 - Hysteresis modeling and tracking control for a dual pneumatic artificial muscle system using Prandtl-Ishlinskii model

AU - Lin, Chih Jer

AU - Lin, Chii Ruey

AU - Yu, Shen Kai

AU - Chen, Chun Ta

PY - 2015/6/1

Y1 - 2015/6/1

N2 - 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.

AB - 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.

KW - Hysteresis

KW - Pneumatic artificial muscle

KW - Prandtl-Ishlinskii mode

KW - Real code genetic algorithm

KW - Sliding-model control

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

Abstract

Keywords

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