Pneumatic artificial muscles: A switching Model Predictive Control approach

• A novel PieceWise Affine modelling approach for a pneumatic muscle actuator has been presented.
• Based on the proposed PAM PWA modelling a switching Model Predictive Controller has been proposed and designed.
• Experimental results have been presented that prove the efficiency of the proposed control scheme in achieving fast and of high precision positioning of the PAM's end tip.

In this article, a switching Model Predictive Controller (sMPC) for a pneumatic artificial muscle (PAM) is presented. The control scheme is based on a switching PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM, while improving the overall model accuracy, and is composed of: (a) a feed-forward term regulating control input at specific reference set-points, and (b) a switching Model Predictive Controller handling any deviations from the system's equilibrium points. Extended experimental studies are being presented that prove the overall scheme's efficiency.