Active modeling for pneumatic artificial muscle
文献类型：会议论文
| 作者 | Zhang DH(张道辉) ; Zhao XG(赵新刚); Han JD(韩建达)
|
| 出版日期 | 2016 |
| 会议名称 | 14th IEEE International Workshop on Advanced Motion Control, AMC 2016 |
| 会议日期 | April 22-24, 2016 |
| 会议地点 | Auckland, New zealand |
| 关键词 | active modeling generalized three-element model model error estimation, Kalman filter pneumatic artifial muscle |
| 页码 | 44-50 |
| 通讯作者 | 张道辉 |
| 中文摘要 | In this paper, an active modeling approach for a pneumatic artificial muscle (PAM) is being considered. The PAM's nonlinearity, hysteresis and time-varying characteristics cause difficulties in modeling its behavior and designing high-performance controllers. Here, a generalized three-element model of a PAM is proposed to obtain the reference model in the reference mode (in a given small pressure range). The equivalent state space representation of the reference model is obtained by applying the linearization approach. The model error is introduced to the equivalent state space model, and the joint estimation is adopted to estimate the system state and the model error simultaneously. Experimental studies are conducted to demonstrate the existence of the model error, and verify the necessity of introducing the model error to the reference model, and evaluate the effect of the proposed active modeling approach in changing modes (not in the given pressure range). |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 1943-6572 |
| ISBN号 | 978-1-4799-8464-0 |
| WOS记录号 | WOS:000390947100007 |
| 源URL | [http://ir.sia.cn/handle/173321/18842]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhang DH,Zhao XG,Han JD. Active modeling for pneumatic artificial muscle[C]. 见:14th IEEE International Workshop on Advanced Motion Control, AMC 2016. Auckland, New zealand. April 22-24, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。