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Advanced Nonlinear PID-Based Antagonistic Control for Pneumatic Muscle Actuators

【摘要】In this paper, the positioning control problem of pneumatic muscle actuators (PMAs) is being considered. A two-degree-of-freedom nonlinear proportional–integral–derivative structure is being synthesized, providing ameliorated compensation of the PMAs’ nonlinear hysteretic phenomena and advanced robustness through disturbance cancellation. Experimental studies are being utilized to prove the overall efficiency of the proposed control scheme with regard to set-point tracking performance for the position control of a single PMA, torsion angle control of a nonsymmetrical antagonistic PMA setup, and disturbance rejection in both single and antagonistic control scenarios.

【期刊名称】 Industrial Electronics, IEEE Transactions on

【作者】Andrikopoulos, G.;Nikolakopoulos, G.;Manesis, S.;

【作者单位】;

【收录信息】;

【年(卷),期】2014(61),12

【年度】2014

【页码】6926-6937

【总页数】12

【原文格式】PDF

【正文语种】eng

【中图分类】;

【关键词】Actuators; Muscles; Process control; Robustness; Switches; Tuning; Antagonistic setup; fluidic muscle; nonlinear proportional??integral??derivative (PID) control; pneumatic muscle actuator (PMA);

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