Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles

doi:10.1007/s11431-021-1887-6

	Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles
	Xia XiuZe1,2 ; Cheng Long1,2
发表期刊	SCIENCE CHINA-TECHNOLOGICAL SCIENCES
ISSN	1674-7321
	2021-08-31
页码	9
通讯作者	Cheng Long(long.cheng@ia.ac.cn)
摘要	Pneumatic artificial muscles (PAMs) usually exhibit strong hysteresis nonlinearity and time-varying features that bring PAMs modeling and control difficulties. To characterize the hysteresis relation between PAMs' displacement and fluid pressure, a long short term memory (LSTM) neural network model and an adaptive Takagi-Sugeno (T-S) fuzzy model are proposed. Experiments show that both models perform well under the load free conditions, and the adaptive T-S Fuzzy model can furtherly adapt to the change of load with the online adaptation ability. With the concise expression and satisfactory performance of the adaptive T-S Fuzzy model, a model predictive controller is designed and tested. Experiments show that the model predictive controller has a good performance on tracking the given references.
关键词	pneumatic artificial muscles adaptive T-S fuzzy model LSTM neural network model model predictive control
DOI	10.1007/s11431-021-1887-6
关键词[WOS]	TRACKING CONTROL ; HYSTERESIS ; IDENTIFICATION
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] ; Beijing Natural Science Foundation[JQ19020]
项目资助者	National Natural Science Foundation of China ; Beijing Natural Science Foundation
WOS研究方向	Engineering ; Materials Science
WOS类目	Engineering, Multidisciplinary ; Materials Science, Multidisciplinary
WOS记录号	WOS:000692433100001
出版者	SCIENCE PRESS
七大方向——子方向分类	智能控制
引用统计	被引频次：18[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/45930
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Cheng Long
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Xia XiuZe,Cheng Long. Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles[J]. SCIENCE CHINA-TECHNOLOGICAL SCIENCES,2021:9.
APA	Xia XiuZe,&Cheng Long.(2021).Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles.SCIENCE CHINA-TECHNOLOGICAL SCIENCES,9.
MLA	Xia XiuZe,et al."Adaptive Takagi-Sugeno fuzzy model and model predictive control of pneumatic artificial muscles".SCIENCE CHINA-TECHNOLOGICAL SCIENCES (2021):9.