Learning an inverse thermodynamic model for Pneumatic Artificial Muscles control

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-06-19 DOI:10.1016/j.mechatronics.2025.103359

G. Wang , R. Chalard , J.A. Cifuentes , M.T. Pham

引用次数: 0

Abstract

Pneumatic Artificial Muscles (PAMs) are highly nonlinear actuators widely used in robotics, rehabilitation, and other dynamic applications. Their complex behavior poses significant challenges for traditional system identification methods. Although machine learning techniques have shown remarkable success in modeling nonlinear systems, their black-box nature often leads to interpretability issues and susceptibility to overfitting. This study proposes a novel hybrid modeling approach that combines the strengths of analytical models with neural networks to capture the inverse thermodynamic behavior of PAMs. The results demonstrate that the hybrid model outperformed both analytical and purely neural network models. The obtained models were further used for model-based control design and the results show that the application of hybrid model improved the tracking performance.

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学习气动人工肌肉控制的逆热力学模型

气动人造肌肉（PAMs）是一种高度非线性的驱动器，广泛应用于机器人、康复和其他动态应用中。它们的复杂行为对传统的系统识别方法提出了重大挑战。尽管机器学习技术在建模非线性系统方面取得了显著的成功，但它们的黑箱性质往往会导致可解释性问题和过度拟合的易感性。本研究提出了一种新的混合建模方法，将分析模型的优势与神经网络相结合，以捕获pam的逆热力学行为。结果表明，混合模型优于分析模型和纯神经网络模型。将得到的模型进一步用于基于模型的控制设计，结果表明混合模型的应用提高了跟踪性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.