title: Position control of a single pneumatic artificial muscle with hysteresis compensation based on modified Prandtl-Ishlinskii model.
abstract: BACKGROUND
  High-performance position control of pneumatic artificial muscles is limited by their inherent nonlinearity and hysteresis.
  
  
  OBJECTIVE
  This study aims to model the length/pressure hysteresis of a single pneumatic artificial muscle and to realize its accurate position tracking control with forward hysteresis compensation.
  
  
  METHODS
  The classical Prandtl-Ishlinskii model is widely used in hysteresis modelling and compensation. But it is only effective for symmetric hysteresis. Therefore, a modified Prandtl-Ishlinskii model is built to characterize the asymmetric length/pressure hysteresis of a single pneumatic artificial muscle, by replacing the classical play operators with two more flexible elementary operators to independently describe the ascending branch and descending branch of hysteresis loops. On the basis, a position tracking controller, which is composed of cascade forward hysteresis compensation and simple proportional pressure controller, is designed for the pneumatic artificial muscle.
  
  
  RESULTS
  Experiment results show that the MPI model can reproduce the length/pressure hysteresis of the pneumatic artificial muscle, and the proposed controller for the pneumatic artificial muscle can track the reference position signals with high accuracy.
  
  
  CONCLUSIONS
  By modelling the length/pressure hysteresis with the modified Prandtl-Ishlinskii model and using its inversion for compensation, precise position control of a single pneumatic artificial muscle is achieved.
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China.
authors.forename: Xizhe
authors.initials: X
authors.lastname: Zang
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China.
authors.forename: Yixiang
authors.initials: Y
authors.lastname: Liu
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China.
authors.forename: Shuai
authors.initials: S
authors.lastname: Heng
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China.
authors.forename: Zhenkun
authors.initials: Z
authors.lastname: Lin
authors.affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China.
authors.forename: Jie
authors.initials: J
authors.lastname: Zhao
mesh_terms: D000465:Algorithms; D001672:Biocompatible Materials / Q000737:chemistry; D003198:Computer Simulation; D004548:Elasticity; D006801:Humans; D008954:Models, Biological; D009132:Muscles / Q000737:chemistry / Q000502:physiology*; D011312:Pressure; D019736:Prostheses and Implants; D011474:Prosthesis Design; D012371:Robotics / Q000295:instrumentation
chemical_list: D001672:Biocompatible Materials
keywords: Pneumatic artificial muscle; hysteresis compensation; modified Prandtl–Ishlinskii model; position control