Detailed Dynamic Model of Antagonistic PAM System and Its Experimental Validation: Sensorless Angle and Torque Control With UKF

This article proposes a detailed nonlinear mathematical model of an antagonistic pneumatic artificial muscle (PAM) actuator system for estimating the joint angle and torque using unscented Kalman filter (UKF). The proposed is described in hybrid state-space representation. It includes contraction force PAM, dynamics, fluid dynamics compressed air, mass flows valve, friction models. A part models modified to obtain novel form Coulomb depending on inner pressure PAM. For validation, offline online UKF estimations sensorless tracking control are conducted evaluate estimation accuracy performance. error less than 7.91 %, steady-state performance more 94.75 %. These results confirm that could be used as state estimator PAM system.