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/article/hysteresis-modeling-and-compensation-of-pneumatic-artificial-muscles-using-the-generalized-prandtl-ishlinskii-model/>. Date accessed: 20 dec. 2024. 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/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/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. 20 Dec. 2024
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/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/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/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)
Strojniški vestnik - Journal of Mechanical Engineering 63(2017)11, 657-665
© The Authors, CC-BY 4.0 Int. Change in copyright policy from 2022, Jan 1st.
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.