Switching model predictive control of a pneumatic artificial muscle

  • George Andrikopoulos
  • George Nikolakopoulos
  • Ioannis Arvanitakis
  • Stamatis Manesis
Control Applications


In this article, a switching Model Predictive Controller (sMPC) scheme for the position control of a Pneumatic Artificial Muscle (PAM) is being presented. The control scheme is based on a constrained linear and PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM and improve the overall model accuracy, and is composed of: a) a feed-forward term regulating control input at specific reference set-points, and b) a switching Model Predictive Controller handling any deviations from the system’s equilibrium points. Extended simulation studies were utilized in order to investigate and evaluate the efficacy of the suggested controller in the positioning problem of a PAM.


Feed forward control fluidic muscle model predictive control piecewise affine system pneumatic artificial muscle 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • George Andrikopoulos
    • 1
  • George Nikolakopoulos
    • 2
  • Ioannis Arvanitakis
    • 1
  • Stamatis Manesis
    • 1
  1. 1.Electrical and Computer Engineering DepartmentUniversity of PatrasRio, AchaiaGreece
  2. 2.Control Engineering GroupLuleå University of TechnologyLuleåSweden

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