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.
|頁（從 - 到）||35-45|
|出版狀態||已發佈 - 2015 一月 1|
ASJC Scopus subject areas
- Mechanical Engineering
- Computer Science Applications
- Electrical and Electronic Engineering