Robust Controller Design for Dual Pneumatic Artificial Muscles with Overshoot Constraints

Recent advancements in flexible robotic mechanisms have drawn great attention in dual pneumatic artificial muscle (PAM) applications. However, the complex inherent characteristics of dual PAMs, particularly highly nonlinear and time-varying properties, may cause state variables to exceed allowable constraints. Furthermore, the dual PAM control system faces additional challenges from potential singularity issues arising from multiple control variables. To solve the singularity issues and satisfy the overshoot constraints, a novel robust control approach for dual PAMs is suggested. Comparative experimental results on the dual PAM platform are posed to confirm the robustness and efficacy of the suggested control. To our knowledge, this is the first control methodology for PAMs that effectively addresses overshoot limitations and input singularities.