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题名: Active modeling for pneumatic artificial muscle
作者: 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: 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 44-50
收录类别: EI
ISBN号: 9781479984640
关键词: active modeling ; generalized three-element model ; model error estimation, Kalman filter ; pneumatic artifial muscle
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).
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18842
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Zhang DH,Zhao XG,Han JD. Active modeling for pneumatic artificial muscle[C]. 见:14th IEEE International Workshop on Advanced Motion Control, AMC 2016. Auckland, New zealand. April 22-24, 2016.
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