Adaptive Takagi-Sugeno Fuzzy Model for Pneumatic Artificial Muscles

Pneumatic artificial muscle (PAM) usually exhibits strong hysteresis nonlinearity and time-varying features that bring PAM modeling and control difficulties. In this paper, an adaptive Takagi-Sugeno (T-S) fuzzy model is established based on nonlinear auto-regression moving average with exogenous input (NARMAX) structure to describe PAM’s characteristics. Experiments show that compared with other phenomenology-based models, the presented model has lower predictive error and better adaptability. Finally, a model predictive controller is designed and validated to verify the adaptive T-S fuzzy model’s practicability.