{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T04:15:29Z","timestamp":1771474529530,"version":"3.50.1"},"reference-count":29,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2022,1,4]],"date-time":"2022-01-04T00:00:00Z","timestamp":1641254400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key R&amp;D Program of China","award":["2018YFB1307601"],"award-info":[{"award-number":["2018YFB1307601"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61873133"],"award-info":[{"award-number":["61873133"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1913208"],"award-info":[{"award-number":["U1913208"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61873135"],"award-info":[{"award-number":["61873135"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The hysteretic nonlinearity of pneumatic artificial muscle (PAM) is the main factor that degrades its tracking accuracy. This paper proposes an efficient hysteresis compensation method based on the active modeling control (AMC). Firstly, the Bouc\u2013Wen model is adopted as the reference model to describe the hysteresis of the PAM. Secondly, the modeling errors are introduced into the reference model, and the unscented Kalman filter is used to estimate the state of the system and the modeling errors. Finally, a hysteresis compensation strategy is designed based on AMC. The compensation performances of the nominal controller with without AMC were experimentally tested on a PAM. The experimental results show that the proposed controller is more robust when tracking different types of trajectories. In the transient, both the overshoot and oscillation can be successfully attenuated, and fast convergence is achieved. In the steady-state, the proposed controller is more robust against external disturbances and measurement noise. The proposed controller is effective and robust in hysteresis compensation, thus improving the tracking performance of the PAM.<\/jats:p>","DOI":"10.3390\/s22010364","type":"journal-article","created":{"date-parts":[[2022,1,9]],"date-time":"2022-01-09T23:08:26Z","timestamp":1641769706000},"page":"364","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Active Model-Based Hysteresis Compensation and Tracking Control of Pneumatic Artificial Muscle"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5162-1665","authenticated-orcid":false,"given":"Yanding","family":"Qin","sequence":"first","affiliation":[{"name":"Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China"},{"name":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China"}]},{"given":"Haoqi","family":"Zhang","sequence":"additional","affiliation":[{"name":"Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China"},{"name":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7939-6746","authenticated-orcid":false,"given":"Xiangyu","family":"Wang","sequence":"additional","affiliation":[{"name":"Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China"},{"name":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9664-4534","authenticated-orcid":false,"given":"Jianda","family":"Han","sequence":"additional","affiliation":[{"name":"Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence, Nankai University, Tianjin 300350, China"},{"name":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China"}]}],"member":"1968","published-online":{"date-parts":[[2022,1,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"3183","DOI":"10.1007\/s12206-021-0639-4","article-title":"Prescribed performance model-free adaptive terminal sliding mode control for the pneumatic artificial muscles elbow exoskeleton","volume":"35","author":"Zhao","year":"2021","journal-title":"J. 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