Control of a One-Degree-of-Freedom PAM-Link Mechanism Based on the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) Method
Authors
Qianjun Sun, Hiroaki Tanaka, Hayato Hirai, Junqi Wang, Koh Hosoda
Abstract
In industrial automation, pneumatic artificial muscles (PAMs) are gaining attention due to their flexibility, light weight, and biomimetic properties. However, PAMs exhibit nonlinearity caused mainly by friction between the sleeve and inner tube, making conventional PD control insufficient for ensuring stability and robustness in nonlinear PAM systems. This study addresses PAM nonlinearity by designing a control law using the IDA-PBC method and evaluating its stability and robustness. IDA-PBC, proposed by Ortega et al., leverages energy-preserving port-Hamiltonian systems to handle nonlinearities and enhance robustness. Experiments on a real system validate the effectiveness of IDA-PBC by demonstrating precise trajectory tracking and strong disturbance rejection.
Citation
- Journal: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
- Year: 2025
- Volume: 2025
- Issue: 0
- Pages: 2P2–M05
- Publisher: Japan Society of Mechanical Engineers
- DOI: 10.1299/jsmermd.2025.2p2-m05
BibTeX
@article{Sun_2025,
title={{Control of a One-Degree-of-Freedom PAM-Link Mechanism Based on the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) Method}},
volume={2025},
ISSN={2424-3124},
DOI={10.1299/jsmermd.2025.2p2-m05},
number={0},
journal={The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)},
publisher={Japan Society of Mechanical Engineers},
author={Sun, Qianjun and Tanaka, Hiroaki and Hirai, Hayato and Wang, Junqi and Hosoda, Koh},
year={2025},
pages={2P2--M05}
}