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In this paper, the modeling and control problem of a pneumatic artificial muscle (PAM) is being considered. The PAM is an actuator characterized by a decrease in the actuating length when pressurized. Its nonlinear nature and time-varying parameters cause difficulties in modeling their characteristics, as well as in designing controllers for high-performance positioning systems. A constrained linear and piecewise affine system model approximation is formulated, and a control scheme composed of the following is being synthesized: 1) a feedforward term regulating the control input at specific set points and 2) a constrained finite-time optimal controller handling any deviations from the system's equilibrium points. Extended experimental studies are utilized to prove the efficacy of the suggested controller.
Andrikopoulos et al. (Fri,) studied this question.