Bio-inspired Modeling and Position Control for Pneumatic Artificial Muscle

摘要

In this paper, the modeling and position control problem of a class of pneumatic artificial muscle (PAM) is investigated for the bio-inspired robotic manipulator. The system model of PAM is firstly developed based on experiment data identification. Then, the improved particle swarm optimization (PSO) control parameter tuning method is established for the effective position control of PAM. In particular, the concept of information entropy is used during the optimal procedure. In the end, the simulation results are given for demonstrating the effectiveness of the proposed design and control approach.