Modeling and compensation of asymmetric rate-dependent hysteresis of a miniature pneumatic artificial muscle-based catheter

Autor: Aghil Yousefi-Koma, Emmanuel Vander Poorten, Moosa Ayati, Saeid Shakiba, Mouloud Ourak
Rok vydání: 2021
Předmět:
Zdroj: Mechanical Systems and Signal Processing. 154:107532
ISSN: 0888-3270
Popis: Hysteresis phenomenon limits the effective use of pneumatic artificial muscles in numerous driving applications. Experimental results show widening hysteresis loops and lowering displacement amplitudes by increasing excitation frequency. In this study, a feedforward controller is proposed to compensate for this hysteretic behavior. This proposed controller is based on a rate-dependent Prandtl–Ishlinskii model. In order to avoid analytical calculation of inverse model, a direct inverse model is proposed. To identify unknown parameters of a direct inverse rate-dependent model, an inverse model of the rate-independent Generalized Prandtl-Ishlinskii (GPI) is used. The inverse GPI model can provide a fairly accurate output to diminish the hysteresis effect at a single-frequency hysteresis. The genetic algorithm combined with an interior-point method as a gradient-based optimization, is proposed to estimate the parameters of the proposed controller quickly. Simulation and experimental results show that the proposed feedforward controller that is identified along this new approach is able to compensate for the hysteresis in the PAM-driven catheter successfully. The identification procedure to optimize the parameters takes less than five minutes and is thus very convenient in use. It should be noted that while demonstrated on a single PAM, the approach is believed to be general and hence also applicable to other actuators that possess the complex hysteresis behavior.
Databáze: OpenAIRE
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