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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)
Department机器人学研究室
Conference Name14th IEEE International Workshop on Advanced Motion Control, AMC 2016
Conference DateApril 22-24, 2016
Conference PlaceAuckland, New zealand
Source Publication2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages44-50
Indexed ByEI ; CPCI(ISTP)
EI Accession number20163202693265
WOS IDWOS:000390947100007
Contribution Rank1
ISSN1943-6572
ISBN978-1-4799-8464-0
KeywordActive Modeling Generalized Three-element Model Pneumatic Artifial Muscle Model Error Estimation Kalman Filter
AbstractIn 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).
Language英语
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Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18842
Collection机器人学研究室
Corresponding AuthorZhang DH(张道辉)
Affiliation1.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
Recommended Citation
GB/T 7714
Zhang DH,Zhao XG,Han JD. Active modeling for pneumatic artificial muscle[C]. Piscataway, NJ, USA:IEEE,2016:44-50.
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