Abstract
In this article, a switching Model Predictive Controller (sMPC) for a pneumatic artificial muscle (PAM) is presented. The control scheme is based on a switching PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM, while improving the overall model accuracy, and is composed of: (a) a feed-forward term regulating control input at specific reference set-points, and (b) a switching Model Predictive Controller handling any deviations from the system's equilibrium points. Extended experimental studies are being presented that prove the overall scheme's efficiency.
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