Brown, D.F. and Xie, S.Q. orcid.org/0000-0002-8082-9112 (2024) A Piecewise Particle Swarm Optimisation Modelling Method for Pneumatic Artificial Muscle Actuators. Actuators, 13 (8). 286. ISSN 2076-0825
Abstract
Pneumatic artificial muscles (PAMs) possess compliant properties desirable for certain applications such as prosthetics and robotic structures. However, this compliance along with their inherent nonlinear dynamics make them difficult to accurately model and as such accurately control under certain control architectures. Common approaches to this problem include measuring the actuator’s physical properties and approximating a model based on these parameters or using deep learning methods to train a model with the actuator’s behaviours. This paper introduces an optimisation-based modelling approach based on a particle swarm optimisation (PSO) algorithm using a mass–spring–damper approximation for the PAM, as well as a piecewise modelling method that accounts for nonlinear dynamics. The use of optimisation to estimate model parameters removes the need to measure physical properties, and the three-element approximation allows for fast model generation with low computational complexity and training data requirements. Through multiple tests comparing model behaviour with real PAM motion, the accuracy of these models is confirmed to be promising for future work. Dynamic nonlinearities are properly accounted for using the piecewise modelling method, including both hysteresis and disproportionate input/output relationship across the stroke length of the actuator. Compared with other PAM modelling techniques, this method has improved generation time, lower computational load requirements, and complexity and can be applied to actuators for which the phenomenological mass–spring–damper model is a good approximation.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
Keywords: | pneumatic artificial muscles; dynamic modelling; particle swarm optimisation; control systems |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 14 Oct 2024 15:09 |
Last Modified: | 14 Oct 2024 15:09 |
Status: | Published |
Publisher: | MDPI |
Identification Number: | 10.3390/act13080286 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:218333 |