Hysteresis Compensation of Pneumatic Artificial Muscles Using Correctional Curve Offset: Case Study

This paper proposes a new method for increasing the control accuracy of a pneumatic muscle by reducing hysteresis. A special feature of this method is the use of several proportional–integral controllers for more precise control of the position of the pneumatic muscle. As shown by the comparison results with other models, this method is more accurate, achieving a standard deviation of only 0.3 mm. Despite the advantages, this method also has disadvantages, such as it is very dependent on the static characteristics of the muscle, as well as the airflow. The comparison results with similar models indicate the high accuracy of this method despite its strong dependence on the static characteristics of the muscle and airflow parameters. The proposed approach opens new perspectives in developing control systems for pneumatic manipulators, providing more efficient means of control despite the limitations associated with the environment and the physical properties of the muscle.