1. Advanced Nonlinear PID-Based Antagonistic Control for Pneumatic Muscle Actuators
- Author
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Georgios Andrikopoulos, George Nikolakopoulos, and Stamatis Manesis
- Subjects
Engineering ,Automatic control ,business.industry ,Control engineering ,Robotics ,Control Engineering ,Nonlinear system ,Robotteknik och automation ,Control and Systems Engineering ,Robustness (computer science) ,Control theory ,Reglerteknik ,Nonlinear pid ,Electrical and Electronic Engineering ,Actuator ,business ,Position control ,Overall efficiency - Abstract
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.
- Published
- 2014