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Experimental Regularization Parameter Search for Polynomial Approximation of Nonlinear PAM Controller | IEEE Conference Publication | IEEE Xplore

Experimental Regularization Parameter Search for Polynomial Approximation of Nonlinear PAM Controller


Abstract:

This study addresses the approximation of the nonlinear controller for a pneumatic artificial muscle actuator using polynomial functions. The controller approximation is ...Show More

Abstract:

This study addresses the approximation of the nonlinear controller for a pneumatic artificial muscle actuator using polynomial functions. The controller approximation is described by the least absolute shrinkage and selection operator, which is the least-squares method used to obtain a sparse solution. The nonlinear controller includes the PAM model; thus, model uncertainties affect the performance of the controller. Therefore, it is important to find a reasonable regularization parameter for approximating the controller in both numerical and experimental settings. The numerical and experimental results confirm that the resulting polynomial controller helps reduce the computational cost and maintain the control performance comparable with the original nonlinear controller.
Date of Conference: 17-20 January 2023
Date Added to IEEE Xplore: 15 February 2023
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Conference Location: Atlanta, GA, USA

References

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