TY - GEN
T1 - Tracking performance of pneumatic artificial muscle actuator using iterative control algorithm
AU - Baek, Seung Guk
AU - Lee, Kyeong Ha
AU - Yuan, Zheng
AU - Koo, Ja Choon
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/7
Y1 - 2016/10/7
N2 - A pneumatic artificial muscle(PAM) have been studied in several fields due to its flexible property. However, it has some troubles in tracking performance and control of a PAM because of the inherent flexibility in material and air. In this study, applicability of Iterative Control(IC) algorithm to a PAM was investigated so as to achieve improvement of tracking performance despite of large non-linearity of a PAM. For this, a PAM virtual simulator was constructed, and the IC algorithm was applied to it in open loop operations and closed-loop operations. Then assessment of these tracking performance was done with time histories and tracking error rms. It seems that the IC algorithm with a linear model is valid to improvement of tracking performance of a PAM, but it has a final convergence limit on account of the use of a linear model.
AB - A pneumatic artificial muscle(PAM) have been studied in several fields due to its flexible property. However, it has some troubles in tracking performance and control of a PAM because of the inherent flexibility in material and air. In this study, applicability of Iterative Control(IC) algorithm to a PAM was investigated so as to achieve improvement of tracking performance despite of large non-linearity of a PAM. For this, a PAM virtual simulator was constructed, and the IC algorithm was applied to it in open loop operations and closed-loop operations. Then assessment of these tracking performance was done with time histories and tracking error rms. It seems that the IC algorithm with a linear model is valid to improvement of tracking performance of a PAM, but it has a final convergence limit on account of the use of a linear model.
UR - https://www.scopus.com/pages/publications/84994378011
U2 - 10.1109/MESA.2016.7587160
DO - 10.1109/MESA.2016.7587160
M3 - Conference contribution
AN - SCOPUS:84994378011
T3 - MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings
BT - MESA 2016 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications - Conference Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2016
Y2 - 29 August 2016 through 31 August 2016
ER -