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Position control of a single pneumatic artificial muscle with hysteresis compensation based on modified
Xizhe Zang1, Yixiang Liu1, Shuai Heng1
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China.
Background:
High-performance position control of pneumatic artificial muscles is limited by their inherent nonlinearity and hysteresis.
Objective:
This study aims to model the length/pressure hysteresis of a single pneumatic artificial muscle and to realize its accurate position tracking control with forward hysteresis compensation.
Methods:
The classical Prandtl-Ishlinskii model is widely used in hysteresis modelling and compensation. But it is only effective for symmetric hysteresis. Therefore, a modified Prandtl-Ishlinskii model is built to characterize the asymmetric length/pressure hysteresis of a single pneumatic artificial muscle, by replacing the classical play operators with two more flexible elementary operators to independently describe the ascending branch and descending branch of hysteresis loops. On the basis, a position tracking controller, which is composed of cascade forward hysteresis compensation and simple proportional pressure controller, is designed for the pneumatic artificial muscle.
Results:
Experiment results show that the MPI model can reproduce the length/pressure hysteresis of the pneumatic artificial muscle, and the proposed controller for the pneumatic artificial muscle can track the reference position signals with high accuracy.
Conclusion:
By modelling the length/pressure hysteresis with the modified Prandtl-Ishlinskii model and using its inversion for compensation, precise position control of a single pneumatic artificial muscle is achieved.