Feedforward Control for Pneumatic Artificial Muscles With Creep Compensation Using Rate-Dependent and Load-Dependent Models

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2023/09/01

タイトル(英語): Feedforward Control for Pneumatic Artificial Muscles With Creep Compensation Using Rate-Dependent and Load-Dependent Models

著者名: Xinlin Zhang (Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University/Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University), Gendi Liu (Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University/Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University), Yinan Wu (Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University/Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University), Ning Sun (Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University/Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University)

著者名(英語): Xinlin Zhang (Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University/Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University), Gendi Liu (Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University/Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University), Yinan Wu (Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University/Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University), Ning Sun (Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University/Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University)

キーワード: pneumatic artificial muscles，hysteresis compensation，modified generalized Prandtl-Ishlinskii model

要約(英語): Considering that the hysteresis described by the classical Prandtl-Ishlinskii (CPI) model is usually symmetric, this paper presents a modified generalized Prandtl-Ishlinskii (MGPI) model for pneumatic artificial muscles (PAMs), which can describe dynamic hysteresis nonlinearities by considering different loads and frequencies. Currently, it is still a challenging issue to achieve tracking control of PAMs because of their inherent characteristics such as dynamic hysteresis nonlinearities, output saturation, and creep. Unlike the commonly used rate-dependent PI model which linearly changes the weights or thresholds with the input rate, the proposed model changes the shape of envelope functions in GPI play operators. The MGPI model, in particular, has the advantage of directly describing the output-to-input relationship with fewer to-be-identified parameters, which reduces the computational burdens in real-time applications. To validate the efficacy and accuracy of the proposed model, a self-built PAM experiment platform is performed, and the obtained experimental results show that the proposed method achieves satisfactory tracking performance.

本誌: IEEJ Journal of Industry Applications Vol.12 No.5 （2023）

本誌掲載ページ: 868-875 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/12/5/12_22004405/_article/-char/ja/