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题名:
Active Model Based Control 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
通讯作者: 韩建达
关键词: Pneumatic artifial muscle (PAM) ; model error ; active model based compensation
刊名: IEEE Transactions on Industrial Electronics
ISSN号: 0278-0046
出版日期: 2017
卷号: 64, 期号:2, 页码:1686-1695
收录类别: SCI ; EI
产权排序: 1
项目资助者: National High Technology Research and Development Program of China (863 Program) under Grant 2015AA042302.
摘要: In this paper, an active model based control scheme is developed for the Pneumatic Artificial Muscle (PAM), to compensate for the uncertainties in the dynamics model of PAM. Firstly, a simplified three-element model with respect to a specific range of pressure is formulated as the reference model. Secondly, a Kalman filter is adopted to actively estimate the errors involved in the reference model, especially while the PAM was working at the pressure outside the specific range where the reference model was built. Finally, a compensation control is proposed using the estimated errors to reject the modeling errors and improve the performance of the PAM. Experiments are conducted on a one degree-of-freedom (DOF) testbed actuated by PAM. The experimental results with and without the active-model-based compensation are presented and compared to demonstrate the improvements of the proposed scheme.
语种: 英语
EI收录号: 20163902847633
WOS记录号: WOS:000395826100085
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
关键词[WOS]: SLIDING-MODE ; ACTUATORS
研究领域[WOS]: Automation & Control Systems ; Engineering ; Instruments & Instrumentation
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/19249
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Zhang DH,Zhao XG,Han JD. Active Model Based Control for Pneumatic Artificial Muscle[J]. IEEE Transactions on Industrial Electronics,2017,64(2):1686-1695.
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