Double-pneumatic artificial muscle control method and system with overshoot constraint

By constructing error signal convergence and overshoot range constraints and designing a nonlinear robust controller, the overshoot and singularity problems in pneumatic artificial muscle control are solved, the safety and robustness of the system are improved, and the state variables are ensured to operate within a safe range.

CN120606376APending Publication Date: 2025-09-09UNIV OF JINAN
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Patent Information

Application Number
CN202510959297.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-07-11
Publication Date
2025-09-09

AI Technical Summary

Technical Problem

Existing pneumatic artificial muscle control methods suffer from overshoot and singularity problems when facing complex motions, which lead to system safety hazards and increased difficulty in controller calculation. The linearized model is inaccurate in areas far away from the working point.

Method used

A dual-pneumatic artificial muscle control method with overshoot constraint is adopted. By constructing error signal convergence constraint terms and overshoot range constraint terms, a nonlinear robust controller is designed. The control parameters are selected using Lyapunov stability theory to ensure that the system state variables are within a safe range and avoid overshoot and singularity.

Benefits of technology

Effective controller operation, avoid overshoot, improve system safety performance, ensure that the controller operates within the specified range, enhance the system's robustness and positioning accuracy, and reduce the impact of external interference.

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Abstract

The invention provides a double-pneumatic artificial muscle control method and system with overshoot constraint, and relates to the technical field of robot control. Comprising the following steps: defining error signals of a forearm muscle length, an upper arm muscle length, a shoulder joint angle and an elbow joint angle based on a dynamic model of a double-pneumatic artificial muscle system, and constructing an error signal convergence constraint term and an overshoot range constraint term; determining an energy function of the double-pneumatic artificial muscle system; based on a kinetic model and an energy function of the double-pneumatic artificial muscle system, considering the error signal convergence constraint term and the overshoot range constraint term, and designing a controller to control the forearm control input air pressure and the upper arm control input air pressure of the double-pneumatic artificial muscle system. According to the method, the error signal convergence constraint term and the overshoot range constraint term are considered, the overshoot of the system state variable is controlled within the safety constraint range, the overshoot phenomenon is avoided, and the safety performance of the system is improved.
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