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Active modeling for pneumatic artificial muscle
Zhang DH(张道辉); Zhao XG(赵新刚); Han JD(韩建达)
作者部门机器人学研究室
会议名称14th IEEE International Workshop on Advanced Motion Control, AMC 2016
会议日期April 22-24, 2016
会议地点Auckland, New zealand
会议录名称2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码44-50
收录类别EI ; CPCI(ISTP)
EI收录号20163202693265
WOS记录号WOS:000390947100007
产权排序1
ISSN号1943-6572
ISBN号978-1-4799-8464-0
关键词Active Modeling Generalized Three-element Model Pneumatic Artifial Muscle Model Error Estimation Kalman Filter
摘要In this paper, an active modeling approach for a pneumatic artificial muscle (PAM) is being considered. The PAM's nonlinearity, hysteresis and time-varying characteristics cause difficulties in modeling its behavior and designing high-performance controllers. Here, a generalized three-element model of a PAM is proposed to obtain the reference model in the reference mode (in a given small pressure range). The equivalent state space representation of the reference model is obtained by applying the linearization approach. The model error is introduced to the equivalent state space model, and the joint estimation is adopted to estimate the system state and the model error simultaneously. Experimental studies are conducted to demonstrate the existence of the model error, and verify the necessity of introducing the model error to the reference model, and evaluate the effect of the proposed active modeling approach in changing modes (not in the given pressure range).
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被引频次:4[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18842
专题机器人学研究室
通讯作者Zhang DH(张道辉)
作者单位1.Shenyang Institute of Automation Chinese Academy of Sciences, University of Chinese Academy of Sciences, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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Zhang DH,Zhao XG,Han JD. Active modeling for pneumatic artificial muscle[C]. Piscataway, NJ, USA:IEEE,2016:44-50.
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