Cascade position control of a single pneumatic artificial muscle-mass system with hysteresis compensation

Abstract The inherent hysteresis in a pneumatic artificial muscle (PAM) makes it difficult to control accurately the position of the PAM’s end effector. This hysteresis causes energy loss and the area of the hysteresis loop is dependent on the amplitude of the motion and on the underlying causes of the hysteresis phenomenon. This means that if the hysteresis energy loss is properly compensated, a more accurate positioning would be achieved. In this paper, the pressure/length hysteresis of a single PAM is modeled by using a Maxwell-slip model. The obtained model is used in the feedforward path of a cascade position control scheme, in which the inner loop is designed to cope with the nonlinearity of the pressure buildup inside the PAM, whereas the outer loop is designed to cope with the nonlinearity of the PAM dynamics itself. The experimental results show that position control of a single PAM–mass system with hysteresis compensation (HC) is effectively improved compared to a control without HC, and the control system shows high robustness to load changes.

[1]  Patrick van der Smagt,et al.  Analysis and control of a rubbertuator arm , 1996, Biological Cybernetics.

[2]  K. Balasubramanian,et al.  Trajectory tracking control of a pneumatic muscle system using fuzzy logic , 2005, NAFIPS 2005 - 2005 Annual Meeting of the North American Fuzzy Information Processing Society.

[3]  Pablo Carbonell,et al.  Nonlinear control of a pneumatic muscle actuator: backstepping vs. sliding-mode , 2001, Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204).

[4]  Ming-Jyi Jang,et al.  Modeling and control of a piezoelectric actuator driven system with asymmetric hysteresis , 2009, J. Frankl. Inst..

[5]  W. Iwan.  A Distributed-Element Model for Hysteresis and Its Steady-State Dynamic Response , 1966 .

[6]  Mustapha Hamerlain,et al.  An anthropomorphic robot arm driven by artificial muscles using a variable structure control , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[7]  Liang Yang,et al.  Sliding mode tracking for pneumatic muscle actuators in opposing pair configuration , 2005, IEEE Transactions on Control Systems Technology.

[8]  Nikolaos G. Tsagarakis,et al.  Development and Control of a ‘Soft-Actuated’ Exoskeleton for Use in Physiotherapy and Training , 2003, Auton. Robots.

[9]  D. W. Repperger,et al.  Nonlinear feedback controller design of a pneumatic muscle actuator system , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[10]  Pierre Lopez,et al.  Modeling and control of McKibben artificial muscle robot actuators , 2000 .

[11]  Bertrand Tondu,et al.  Naturally compliant robot-arms actuated by McKibben artificial muscles , 1994, Proceedings of IEEE International Conference on Systems, Man and Cybernetics.

[12]  Daniel W. Repperger,et al.  Fuzzy PD+I learning control for a pneumatic muscle , 2003, The 12th IEEE International Conference on Fuzzy Systems, 2003. FUZZ '03..

[13]  Blake Hannaford,et al.  Measurement and modeling of McKibben pneumatic artificial muscles , 1996, IEEE Trans. Robotics Autom..

[14]  Blake Hannaford,et al.  Accounting for elastic energy storage in McKibben artificial muscle actuators , 2000 .

[15]  Jan Swevers,et al.  An integrated friction model structure with improved presliding behavior for accurate friction compensation , 1998, IEEE Trans. Autom. Control..

[16]  Kyoung Kwan Ahn,et al.  Intelligent Switching Control of a Pneumatic Muscle Robot Arm using Learning Vector Quantization Neural Network , 2007 .

[17]  Musa Jouaneh,et al.  Generalized preisach model for hysteresis nonlinearity of piezoceramic actuators , 1997 .

[18]  Darwin G. Caldwell,et al.  Control of pneumatic muscle actuators , 1995 .

[19]  Shinji Hara,et al.  Feedback linearization for pneumatic actuator systems with static friction , 1997 .

[20]  Kanji Inoue,et al.  Rubbertuators and applications for robots , 1988 .

[21]  Dawei Cai,et al.  A robust controller for manipulator driven by artificial muscle actuator , 1996, Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro.

[22]  Ming-Kun Chang,et al.  Tracking Control of a 2-DOF Arm Actuated by Pneumatic Muscle Actuators Using Adaptive Fuzzy Sliding Mode Control , 2007 .

[23]  Hendrik Van Brussel,et al.  Friction characterization and compensation in electro-mechanical systems , 2007 .

[24]  Nikolaos G. Tsagarakis,et al.  Improved modelling and assessment of pneumatic muscle actuators , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[25]  O. Sawodny,et al.  A cascaded tracking control concept for pneumatic muscle actuators , 2003, 2003 European Control Conference (ECC).

[26]  Kazuhiko Kawamura,et al.  Dynamic pneumatic actuator model for a model-based torque controller , 2003, Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694).

[27]  Kyoung Kwan Ahn,et al.  Nonlinear PID control to improve the control performance of 2 axes pneumatic artificial muscle manipulator using neural network , 2006 .

[28]  Jan Swevers,et al.  Modification of the Leuven integrated friction model structure , 2002, IEEE Trans. Autom. Control..

[29]  T. Tjahjowidodo,et al.  A New Approach to Modeling Hysteresis in a Pneumatic Artificial Muscle Using The Maxwell-Slip Model , 2011, IEEE/ASME Transactions on Mechatronics.

[30]  Darwin G. Caldwell,et al.  Braid Effects on Contractile Range and Friction Modeling in Pneumatic Muscle Actuators , 2006, Int. J. Robotics Res..

[31]  Darwin G. Caldwell,et al.  Adaptive position control of antagonistic pneumatic muscle actuators , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[32]  O. Sawodny,et al.  Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuators , 2005, Proceedings of the 2005, American Control Conference, 2005..

[33]  G.A. Medrano-Cerda,et al.  Braided pneumatic actuator control of a multi-jointed manipulator , 1993, Proceedings of IEEE Systems Man and Cybernetics Conference - SMC.

[34]  Tegoeh Tjahjowidodo,et al.  Non-local memory hysteresis in a pneumatic artificial muscle (PAM) , 2009, 2009 17th Mediterranean Conference on Control and Automation.