Novel Compliant Control of Pneumatic Artificial Muscle Driven by Hydrogen Pressure under Varying Environment

Thanana Nuchkrua, Thananchai Leephakpreeda

Research output: Contribution to journalArticlepeer-review

Abstract

A pneumatic artificial muscle (PAM) based on a metal hydride (MH) is considered for a compact compliant actuator. It is suitable for board applications of human robot interaction (HRI). To address the problem of HRI representing by varying environment, a compliant control is introduced. In fact, the bottlenecks of improving the performance in the compliant control of the PAM actuator are: a) an inherent non-linear dynamics of a PAM, b) the parametric and non-linear uncertainties, influenced by varying environment, and c) an additional high dimension introduced by an MH employed as a driving force for the PAM. We propose a learning-based adaptive robust control (LARC) framework to tackle these challenges. A Bayesian learning technique deals with the parameter adaptation for the adaptive control. The effectiveness of the LARC has been examined in extensive experiments of tracking control.
Original languageAmerican English
JournalIEEE Transactions on Industrial Electronics
DOIs
StatePublished - 1 Jan 2021

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