Journal ArticleDOI
Pneumatic artificial muscles: A switching Model Predictive Control approach
TLDR
In this article, a switching Model Predictive Controller (sMPC) for a pneumatic artificial muscle (PAM) is presented, which is based on a switching PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM.About:
This article is published in Control Engineering Practice.The article was published on 2013-12-01. It has received 50 citations till now. The article focuses on the topics: Pneumatic artificial muscles & Model predictive control.read more
Citations
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Journal ArticleDOI
Multiple Lyapunov Functions Analysis Approach for Discrete-Time-Switched Piecewise-Affine Systems Under Dwell-Time Constraints
Yanzheng Zhu,Wei Xing Zheng +1 more
TL;DR: The novel asymptotic stability conditions with less conservatism are derived for the induced switched PWA systems with dual switching mechanism based on the approach of multiple Lyapunov functions in piecewise quadratic form via the smooth approximation technique.
Journal ArticleDOI
The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons
TL;DR: A power augmentation and rehabilitation exoskeleton based on a novel actuator that has been shown to reduce the amount of muscles effort needed to perform a number of simple grasps and an output force mathematical model for it has been developed.
Journal ArticleDOI
Bioinspired Three-Dimensional-Printed Helical Soft Pneumatic Actuators and Their Characterization.
Weiping Hu,Gursel Alici +1 more
TL;DR: A new SPA consisting of a series of internal chambers with the same helix angle arranged in a row, which could generate bending and twisting motions simultaneously is described, which had a higher mechanical output than the normal bending actuator under the same pressure input.
Journal ArticleDOI
A multiscale approach for modeling actuation response of polymeric artificial muscles.
Soodabeh Sharafi,Guoqiang Li +1 more
TL;DR: A computationally efficient phenomenological thermo-mechanical constitutive model is developed in which several physical properties of the artificial muscles are incorporated to minimize the trial-and-error numerical curve fitting processes.
Journal ArticleDOI
An Integrated Intelligent Nonlinear Control Method for a Pneumatic Artificial Muscle
TL;DR: In this article, an integrated intelligent nonlinear controller for a pneumatic artificial muscle (PAM) system is proposed, where neural networks are employed as equivalent internal dynamics of the system model and optimized online by a Lyapunov-based method.
References
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Journal ArticleDOI
Survey Constrained model predictive control: Stability and optimality
TL;DR: This review focuses on model predictive control of constrained systems, both linear and nonlinear, and distill from an extensive literature essential principles that ensure stability to present a concise characterization of most of the model predictive controllers that have been proposed in the literature.
Book
Predictive Control With Constraints
TL;DR: A standard formulation of Predictive Control is presented, with examples of step response and transfer function formulations, and a case study of robust predictive control in the context of MATLAB.
Journal ArticleDOI
Control of systems integrating logic, dynamics, and constraints
Alberto Bemporad,Manfred Morari +1 more
TL;DR: A predictive control scheme is proposed which is able to stabilize MLD systems on desired reference trajectories while fulfilling operating constraints, and possibly take into account previous qualitative knowledge in the form of heuristic rules.
Journal ArticleDOI
Paper: Model predictive heuristic control
TL;DR: In this paper, a new method of digital process control is described, which relies on three principles: 1) the multivariable plant is represented by its impulse responses which will be used on line by the control computer for long range prediction; 2) the behavior of the closed-loop system is prescribed by means of reference trajectories initiated on the actual outputs; 3) the control variables are computed in a heuristic way with the same procedure used in identification, which appears as a dual of the control under this formulation.
Journal ArticleDOI
Measurement and modeling of McKibben pneumatic artificial muscles
Ching-Ping Chou,Blake Hannaford +1 more
TL;DR: Mechanical testing the modeling results for the McKibben artificial muscle pneumatic actuator, which contains an expanding tube surrounded by braided cords, and a linearized model of these properties for three different models is derived.
Related Papers (5)
Measurement and modeling of McKibben pneumatic artificial muscles
Ching-Ping Chou,Blake Hannaford +1 more