Title: Multi-parametric constrained optimal control of a pneumatic artificial muscle
Authors: George Andrikopoulos , George Nikolakopoulos , Ioannis Arvanitakis , Stamatis Manesis
Abstract: The Pneumatic Artificial Muscle (PAM) is a highly non-linear form of actuation that is characterized by a decrease in the actuating length when pressurized. Its non-linear nature and time-varying parameters cause difficulties in modelling their characteristics and designing controllers for high-performance positioning systems. In this article, the control problem of a PAM is considered. A constrained linear and PieceWise Affine (PWA) system model approximation is utilized and a controller composed of: a) a feedforward term regulating control input at specific setpoints, and b) a Constrained Finite Time Optimal Controller (CFTOC) handling any deviations from the system’s equilibrium points is synthesized. Simulation studies are used to investigate the efficacy of the suggested controller.
Publication date: 2012-07-16
Online entry date: 2013-05-08
Conference: CONTROLO’2012
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