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Adaptive Internal Model Control scheme for a Pneumatic Artificial Muscle

In this article, the model identification and control problem of a Pneumatic Artificial Muscle (PAM) is being considered. The identification of the PAM's model parameters is being carried out by a Recursive Least Square (RLS) based algorithm, while an Internal Model Control (IMC) structure is being synthesized. Experimental studies are being utilized to prove the overall efficiency of the suggested control scheme, regarding: a) set-point tracking performance through selected positioning scenarios, b) adaptability through hysteresis shift compensation and c) robustness through disturbance cancellation.