On Prandtl–Ishlinskii Hysteresis Modeling of a Loaded Pneumatic Artificial Muscle

Abstract

Modeling of the hysteresis nonlinearities of the pneumatic artificial muscle (PAM) is critical when it is proposed to drive various high-precision mechatronics applications. This letter aims to characterize the hysteresis nonlinearities obtained experimentally of the PAM system under the load force effect. The load-dependent Prandtl–Ishlinskii (LDPI) model with a load-dependent weight function is proposed to model the measured hysteresis loop under different load forces. Comparing the measured hysteresis loops to the estimated loops of the LDPI model demonstrates the proposed model’s ability to characterize the asymmetric and load force effects in the hysteresis nonlinearities of the PAMs.