Control of a pneumatic artificial muscle (PAM) with model-based hysteresis compensation
Due to the inherent hysteresis in a PAM, the accompanying control of such actuator becomes complicated. In this paper, the pressure/length hysteresis is mathematically described by applying a Maxwell-slip model. The model of this hysteresis is then fed forward to compensate for the actuator nonlinearities. The designed controller is therefore just a simple PI-controller. It shows robust performance in PAM positioning control regarding not only at different equilibrium positions but also with different loads.