Modeling and Identification of a Pneumatic Muscle Actuator System Controlled by an On/Off Solenoid Valve
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abstract
The objective of this research is to develop an analytical model of the system which includes the nonlinearities of the system, and the transformation of the discontinuities into a continuous form. The use of analytical models enables the implementation of conventional analytical control approaches, such as sliding mode control, and provides a tool for the analysis of stability and robustness. In this paper, the modeling process is applied to a one degree of freedom pneumatic system for which the analytical nonlinear system model is developed by a combination of physical and empirical methods. An extensive set of experimental tests are performed to characterize the dynamics of the overall system. A non-analytic and analytic model of the system are developed and validated by a comparison of the simulated results with the experimental implementation of the system.
