Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China.
Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China.
Sensors (Basel). 2022 Jan 4;22(1):364. doi: 10.3390/s22010364.
The hysteretic nonlinearity of pneumatic artificial muscle (PAM) is the main factor that degrades its tracking accuracy. This paper proposes an efficient hysteresis compensation method based on the active modeling control (AMC). Firstly, the Bouc-Wen model is adopted as the reference model to describe the hysteresis of the PAM. Secondly, the modeling errors are introduced into the reference model, and the unscented Kalman filter is used to estimate the state of the system and the modeling errors. Finally, a hysteresis compensation strategy is designed based on AMC. The compensation performances of the nominal controller with without AMC were experimentally tested on a PAM. The experimental results show that the proposed controller is more robust when tracking different types of trajectories. In the transient, both the overshoot and oscillation can be successfully attenuated, and fast convergence is achieved. In the steady-state, the proposed controller is more robust against external disturbances and measurement noise. The proposed controller is effective and robust in hysteresis compensation, thus improving the tracking performance of the PAM.
气动人工肌肉（PAM）的迟滞非线性是降低其跟踪精度的主要因素。本文提出了一种基于主动建模控制（AMC）的高效迟滞补偿方法。首先，采用 Bouc-Wen 模型作为参考模型来描述 PAM 的迟滞。其次，将建模误差引入参考模型，并使用无迹卡尔曼滤波器估计系统状态和建模误差。最后，基于 AMC 设计了迟滞补偿策略。在 PAM 上进行了标称控制器有无 AMC 的补偿性能实验测试。实验结果表明，所提出的控制器在跟踪不同类型的轨迹时具有更强的鲁棒性。在瞬态过程中，可以成功地衰减过冲和振荡，并实现快速收敛。在稳态下，所提出的控制器对外部干扰和测量噪声具有更强的鲁棒性。所提出的控制器在迟滞补偿中是有效的和鲁棒的，从而提高了 PAM 的跟踪性能。
