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^*

^*此作品的通信作者

機電工程學系

研究成果: 雜誌貢獻 › 期刊論文 › 同行評審

109 引文斯高帕斯（Scopus）

摘要

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.

原文	英語
文章編號	1710
頁（從 - 到）	35-45
頁數	11
期刊	Mechatronics
卷	28
DOIs	https://doi.org/10.1016/j.mechatronics.2015.03.006
出版狀態	已發佈 - 2015 6月 1

ASJC Scopus subject areas

機械工業
電腦科學應用
電氣與電子工程

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10.1016/j.mechatronics.2015.03.006

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Link to publication in Scopus

引用此

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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}",

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AU - Yu, Shen Kai

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PY - 2015/6/1

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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

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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

摘要

ASJC Scopus subject areas

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