Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model

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MEI, Jiangping ;XIE, Shenglong ;LIU, Haitao ;ZANG, Jiawei .
Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 63, n.11, p. 657-665, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/hysteresis-modeling-and-compensation-of-pneumatic-artificial-muscles-using-the-generalized-prandtl-ishlinskii-model/>. Date accessed: 28 feb. 2021. 
doi:http://dx.doi.org/10.5545/sv-jme.2017.4491.
Mei, J., Xie, S., Liu, H., & Zang, J.
(2017).
Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model.
Strojniški vestnik - Journal of Mechanical Engineering, 63(11), 657-665.
doi:http://dx.doi.org/10.5545/sv-jme.2017.4491
@article{sv-jmesv-jme.2017.4491,
	author = {Jiangping  Mei and Shenglong  Xie and Haitao  Liu and Jiawei  Zang},
	title = {Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {63},
	number = {11},
	year = {2017},
	keywords = {hysteresis nonlinearity, generalized Prandtl-Ishlinskii (GPI) model, trajectory tracking control, Levenberg-Marquardt method},
	abstract = {The pneumatic artificial muscle (PAM) has attracted extensive attention from both industrial and academic fields due to its high power/weight ratio and significant compliance. However, the inherent hysteresis nonlinearities, including force-length and length-pressure hysteresis, have significant influence on the accuracy of trajectory tracking control. This paper presents a generalized Prandtl-Ishlinskii (GPI) model and its inversion for the asymmetric hysteresis characterization and compensation of the PAM. By using the Levenberg-Marquardt (L-M) method, the parameters in the proposed GPI model are identified, based on which the simulation result of the GPI model and the measured experimental data are compared to validate the identification. To compensate for the nonlinear length-pressure hysteresis, a feedforward/feedback combined control scheme is developed to realize highly accurate trajectory tracking control of the PAM. The experimental results show that the inverse GPI model has a good capability of compensating the asymmetric length-pressure hysteresis.},
	issn = {0039-2480},	pages = {657-665},	doi = {10.5545/sv-jme.2017.4491},
	url = {https://www.sv-jme.eu/sl/article/hysteresis-modeling-and-compensation-of-pneumatic-artificial-muscles-using-the-generalized-prandtl-ishlinskii-model/}
}
Mei, J.,Xie, S.,Liu, H.,Zang, J.
2017 June 63. Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 63:11
%A Mei, Jiangping 
%A Xie, Shenglong 
%A Liu, Haitao 
%A Zang, Jiawei 
%D 2017
%T Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model
%B 2017
%9 hysteresis nonlinearity, generalized Prandtl-Ishlinskii (GPI) model, trajectory tracking control, Levenberg-Marquardt method
%! Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model
%K hysteresis nonlinearity, generalized Prandtl-Ishlinskii (GPI) model, trajectory tracking control, Levenberg-Marquardt method
%X The pneumatic artificial muscle (PAM) has attracted extensive attention from both industrial and academic fields due to its high power/weight ratio and significant compliance. However, the inherent hysteresis nonlinearities, including force-length and length-pressure hysteresis, have significant influence on the accuracy of trajectory tracking control. This paper presents a generalized Prandtl-Ishlinskii (GPI) model and its inversion for the asymmetric hysteresis characterization and compensation of the PAM. By using the Levenberg-Marquardt (L-M) method, the parameters in the proposed GPI model are identified, based on which the simulation result of the GPI model and the measured experimental data are compared to validate the identification. To compensate for the nonlinear length-pressure hysteresis, a feedforward/feedback combined control scheme is developed to realize highly accurate trajectory tracking control of the PAM. The experimental results show that the inverse GPI model has a good capability of compensating the asymmetric length-pressure hysteresis.
%U https://www.sv-jme.eu/sl/article/hysteresis-modeling-and-compensation-of-pneumatic-artificial-muscles-using-the-generalized-prandtl-ishlinskii-model/
%0 Journal Article
%R 10.5545/sv-jme.2017.4491
%& 657
%P 9
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 63
%N 11
%@ 0039-2480
%8 2018-06-27
%7 2018-06-27
Mei, Jiangping, Shenglong  Xie, Haitao  Liu, & Jiawei  Zang.
"Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model." Strojniški vestnik - Journal of Mechanical Engineering [Online], 63.11 (2017): 657-665. Web.  28 Feb. 2021
TY  - JOUR
AU  - Mei, Jiangping 
AU  - Xie, Shenglong 
AU  - Liu, Haitao 
AU  - Zang, Jiawei 
PY  - 2017
TI  - Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.4491
KW  - hysteresis nonlinearity, generalized Prandtl-Ishlinskii (GPI) model, trajectory tracking control, Levenberg-Marquardt method
N2  - The pneumatic artificial muscle (PAM) has attracted extensive attention from both industrial and academic fields due to its high power/weight ratio and significant compliance. However, the inherent hysteresis nonlinearities, including force-length and length-pressure hysteresis, have significant influence on the accuracy of trajectory tracking control. This paper presents a generalized Prandtl-Ishlinskii (GPI) model and its inversion for the asymmetric hysteresis characterization and compensation of the PAM. By using the Levenberg-Marquardt (L-M) method, the parameters in the proposed GPI model are identified, based on which the simulation result of the GPI model and the measured experimental data are compared to validate the identification. To compensate for the nonlinear length-pressure hysteresis, a feedforward/feedback combined control scheme is developed to realize highly accurate trajectory tracking control of the PAM. The experimental results show that the inverse GPI model has a good capability of compensating the asymmetric length-pressure hysteresis.
UR  - https://www.sv-jme.eu/sl/article/hysteresis-modeling-and-compensation-of-pneumatic-artificial-muscles-using-the-generalized-prandtl-ishlinskii-model/
@article{{sv-jme}{sv-jme.2017.4491},
	author = {Mei, J., Xie, S., Liu, H., Zang, J.},
	title = {Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {63},
	number = {11},
	year = {2017},
	doi = {10.5545/sv-jme.2017.4491},
	url = {https://www.sv-jme.eu/sl/article/hysteresis-modeling-and-compensation-of-pneumatic-artificial-muscles-using-the-generalized-prandtl-ishlinskii-model/}
}
TY  - JOUR
AU  - Mei, Jiangping 
AU  - Xie, Shenglong 
AU  - Liu, Haitao 
AU  - Zang, Jiawei 
PY  - 2018/06/27
TI  - Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 63, No 11 (2017): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.4491
KW  - hysteresis nonlinearity, generalized Prandtl-Ishlinskii (GPI) model, trajectory tracking control, Levenberg-Marquardt method
N2  - The pneumatic artificial muscle (PAM) has attracted extensive attention from both industrial and academic fields due to its high power/weight ratio and significant compliance. However, the inherent hysteresis nonlinearities, including force-length and length-pressure hysteresis, have significant influence on the accuracy of trajectory tracking control. This paper presents a generalized Prandtl-Ishlinskii (GPI) model and its inversion for the asymmetric hysteresis characterization and compensation of the PAM. By using the Levenberg-Marquardt (L-M) method, the parameters in the proposed GPI model are identified, based on which the simulation result of the GPI model and the measured experimental data are compared to validate the identification. To compensate for the nonlinear length-pressure hysteresis, a feedforward/feedback combined control scheme is developed to realize highly accurate trajectory tracking control of the PAM. The experimental results show that the inverse GPI model has a good capability of compensating the asymmetric length-pressure hysteresis.
UR  - https://www.sv-jme.eu/sl/article/hysteresis-modeling-and-compensation-of-pneumatic-artificial-muscles-using-the-generalized-prandtl-ishlinskii-model/
Mei, Jiangping, Xie, Shenglong, Liu, Haitao, AND Zang, Jiawei.
"Hysteresis Modeling and Compensation of Pneumatic Artificial Muscles using the Generalized Prandtl-Ishlinskii Model" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 63 Number 11 (27 June 2018)

Avtorji

Inštitucije

  • Tianjin University, Key Laboratory of Mechanism Theory and Equipment Design, China 1

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 63(2017)11, 657-665

https://doi.org/10.5545/sv-jme.2017.4491

The pneumatic artificial muscle (PAM) has attracted extensive attention from both industrial and academic fields due to its high power/weight ratio and significant compliance. However, the inherent hysteresis nonlinearities, including force-length and length-pressure hysteresis, have significant influence on the accuracy of trajectory tracking control. This paper presents a generalized Prandtl-Ishlinskii (GPI) model and its inversion for the asymmetric hysteresis characterization and compensation of the PAM. By using the Levenberg-Marquardt (L-M) method, the parameters in the proposed GPI model are identified, based on which the simulation result of the GPI model and the measured experimental data are compared to validate the identification. To compensate for the nonlinear length-pressure hysteresis, a feedforward/feedback combined control scheme is developed to realize highly accurate trajectory tracking control of the PAM. The experimental results show that the inverse GPI model has a good capability of compensating the asymmetric length-pressure hysteresis.

hysteresis nonlinearity, generalized Prandtl-Ishlinskii (GPI) model, trajectory tracking control, Levenberg-Marquardt method