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| Study on Hysteresis of Pneumatic Artificial Muscle Based on Group Method of Data Handling Neural Network |
| CUI Xia-1, SHI Guang-Lin-2, SHEN Wei-3 |
| (1. Tian Hua College, Shanghai Normal University, Shanghai 201815, China;2. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China;3. College of Engineering, Shanghai Ocean University, Shanghai 201306, China) |
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Abstract There exits hysteresis phenomenon in the dynamics of pneumatic artificial muscle(PAM). By now the study on the hysteresis of PAM is so insufficient that even its input space is unknown. So, a single degree of freedom PAM experiment facility was established. And the input space for the hysteresis of PAM was explored via a data mining technique—group method of data handling(GMDH) neural network with the character of self organization. Based on the input space, an adaptive fuzzy cerebellar model articulation controller(CMAC) neural network was introduced into sliding mode control and the hysteresis of PAM was online compensated in real time. The experimental results suggest the rationality and effectiveness of the input space for the hysteresis of PAM.
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Received: 17 February 2012
Published: 28 June 2012
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