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Due to the inherent hysteresis in a PAM, the accompanying control of such actuator becomes complicated. In this paper, the pressure/length hysteresis is mathematically described by applying a Maxwell-slip model. The model of this hysteresis is then fed forward to compensate for the actuator nonlinearities. The designed controller is therefore just a simple PI-controller. It shows robust performance...
In a system using PAMs, a big research effort has been carried out to solve the control problem, in which the nonlinear dynamics of a PAM were left behind as a disturbance to that system. The inherent dynamics in a PAM is due to its constitutional materials which cause hysteresis during cyclic contraction/extension. Prior knowledge of the hysteresis behavior in a PAM may simplify the associated control...
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