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.