Adaptive Internal Model Control scheme for a Pneumatic Artificial Muscle

Author

Andrikopoulos, G. ; Nikolakopoulos, George ; Manesis, Stamatis

Author_Institution

Electr. & Comput. Eng. Dept., Univ. of Patras, Rio, Greece

fYear

2013

Firstpage

772

Lastpage

777

Abstract

In this article, the model identification and control problem of a Pneumatic Artificial Muscle (PAM) is being considered. The identification of the PAM´s model parameters is being carried out by a Recursive Least Square (RLS) based algorithm, while an Internal Model Control (IMC) structure is being synthesized. Experimental studies are being utilized to prove the overall efficiency of the suggested control scheme, regarding: a) set-point tracking performance through selected positioning scenarios, b) adaptability through hysteresis shift compensation and c) robustness through disturbance cancellation.

Keywords

adaptive control; compensation; control system synthesis; electroactive polymer actuators; least squares approximations; pneumatic actuators; robust control; IMC structure; PAM model parameters; RLS based algorithm; adaptive internal model control scheme; control problem; control scheme; disturbance cancellation; hysteresis shift compensation; model identification problem; pneumatic artificial muscle; positioning scenarios; recursive least square; robustness; set-point tracking performance; Actuators; Adaptation models; Convergence; Muscles; Process control; Robustness; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2013 European

Type

conf

Filename

6669421