Kalman-PID control for chattering phenomena of bionic elbow joint actuated by pneumatic artificial muscles
YANG Hui
HAO Li-na
CHEN Yang
XUE Bang-can
Abstract：For restraining the chattering phenomena of pneumatic artificial muscles (PAMs) caused by process errors and measurement errors, the mathematical model of a PAM was replaced by PID control law whose discrete state equations was solved and taken into the discrete Kalman recursive formulas. Then, the Kalman-PID (KPID) controller based on the PID control parameters was proposed. In order to verify effectiveness of KPID controller, a 3-DOF bionic elbow joint actuated by three pneumatic artificial muscles was treated as the controlled object and controlled via PID controller and KPID controller, respectively. From the results, KPID controller has higher control precision and better robustness than PID controller. KPID controller can restrain the chattering phenomena effectively, which makes the bionic elbow joint rotate smoothly. Moreover, KPID controller does not need the accurate mathematical model of controlled objects and priori knowledge of the noise characteristics, which avoids complicated modeling process and expands the application range of Kalman filtering algorithm.
Keywords：pneumatic artificial muscles (PAM)PID control parametersKalman-PID (KPID)bionic elbow joint
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 477-482 )