Comprehensive Dynamic Model of Vertical Pneumatic Bellows Actuator System Considering Bidirectional Asymmetric Hysteresis

Huai Xiao; Xuzhi Lai; Qingxin Meng; Jinhua She; Edwardo F. Fukushima; Min Wu

doi:10.1109/JAS.2025.125162

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2025 > In Press, Accepted Manuscript

H. Xiao, X. Lai, Q. Meng, J. She, E. Fukushima, and M. Wu, “Comprehensive dynamic model of vertical pneumatic bellows actuator system considering bidirectional asymmetric hysteresis,” IEEE/CAA J. Autom. Sinica, 2025. doi: 10.1109/JAS.2025.125162

Citation:

H. Xiao, X. Lai, Q. Meng, J. She, E. Fukushima, and M. Wu, “Comprehensive dynamic model of vertical pneumatic bellows actuator system considering bidirectional asymmetric hysteresis,” IEEE/CAA J. Autom. Sinica, 2025. doi: 10.1109/JAS.2025.125162

Citation:

H. Xiao, X. Lai, Q. Meng, J. She, E. Fukushima, and M. Wu, “Comprehensive dynamic model of vertical pneumatic bellows actuator system considering bidirectional asymmetric hysteresis,” IEEE/CAA J. Autom. Sinica, 2025. doi: 10.1109/JAS.2025.125162

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Comprehensive Dynamic Model of Vertical Pneumatic Bellows Actuator System Considering Bidirectional Asymmetric Hysteresis

doi: 10.1109/JAS.2025.125162

Funds: This work was supported in part by the Young Scientists Fund of National Natural Science Foundation of China (62203408), the Hubei Provincial Natural Science Foundation of China (2015CFA010), the 111 Project (B17040), and China Scholarship Council (202206410070)

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Author Bio:
Huai Xiao (Student Member, IEEE) received the B.S. degree in engineering from China University of Geosciences in 2019. He is currently pursuisng the Ph.D. degree at the School of Automation, China University of Geosciences. From December 2022 to December 2024, he was a visiting Ph.D. student at the School of Engineering, Tokyo University of Technology, Japan. His current research interests include design and control of soft robots, and nonlinear system control

Xuzhi Lai received the B.S., M.S., and Ph.D. degrees in engineering from Central South University, in 1988, 1991, and 2001, respectively. In 1991, she joined the School of Information Science and Engineering, Central South University, and was promoted to Professor in 2004. From 2004 to 2006, she was a Visiting Scholar with the Department of Mechanical Engineering, University of Toronto, Canada, and the School of Engineering, University of Guelph, Canada.In 2014, she moved to China University of Geosciences where she is currently a Professor. Her current research interests include intelligent control, robot control, and nonlinear system control

Qingxin Meng (Member, IEEE) received the B.S. degree in engineering from Hebei University of Technology, in 2016, and the Ph.D. degree in engineering from China University of Geosciences, in 2021. From August 2019 to August 2021, he was a Research Intern with the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Canada. In 2022, he joined the School of Automation, China University of Geosciences, where he is currently a Professor. His main research interest is robot control

Jinhua She (Fellow, IEEE) received the B.S. degree in engineering from Central South University, in 1983, and the M.S. and Ph.D. degrees in engineering from the Tokyo Institute of Technology, Japan, in 1990 and 1993, respectively.In 1993, he joined the School of Engineering, Tokyo University of Technology, Japan, where he is currently a Professor. His research interests include the application of control theory, repetitive control, process control, mobile education, and assistive robotics.Dr. She is a Member of the Society of Instrument and Control Engineers, the Institute of Electrical Engineers of Japan, the Japan Society of Mechanical Engineers, and the Asian Control Association. He received the Control Engineering Practice Prize Paper Award from the International Federation of Automatic Control in 1999 (jointly with M. Wu and M. Nakano)

Edwardo F. Fukushima (Member, IEEE) received the B.Eng. degree in electric engineering from the Federal University of Technology – Parana’(UTFPR), Brazil, in 1989, and the M.Eng. and D.Eng. degrees in mechanical science engineering from Tokyo Institute of Technology, Japan, in 1993 and 2002, respectively.During September–December 2001, he was a Visiting Researcher at Stanford University, and during August–September 2004 he was a Visiting Scientist at University of Zurich, Switzerland. In 1994, he joined the Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Japan. In 2014, he joined Tokyo University of Technology, Japan, where he is currently a Professor. His research interests include development of demining robots, new brushless motors and drives, and design of controllers for intelligent robots.Dr. Fukushima is a Member of the Society of Instrument and Control Engineers, the Robotics of Society of Japan, the Japan Society of Mechanical Engineers, and the Institute of Electrical and Electronics Engineers. In 2014, he also received the Best Paper Award from SICE, Japan

Min Wu (Fellow, IEEE) received the B.S. and M.S. degrees in engineering from Central South University, in 1983 and 1986, respectively, and the Ph.D. degree in engineering from the Tokyo Institute of Technology, Japan, in 1999.He was a Faculty Member of the School of Information Science and Engineering at Central South University from 1986 to 2014, and was promoted to Professor in 1994. He was a Visiting Scholar with the Department of Electrical Engineering, Tohoku University, Japan, from 1989 to 1990, and a Visiting Research Scholar with the Department of Control and Systems Engineering, Tokyo Institute of Technology, from 1996 to 1999. He was a Visiting Professor with the School of Mechanical, Materials, Manufacturing Engineering and Management, University of Nottingham, U.K., from 2001 to 2002. In 2014, he joined the China University of Geosciences, where he is currently a Professor with the School of Automation. His current research interests include process control, robust control, and intelligent systems.Dr. Wu is a Fellow of the Chinese Association of Automation (CAA Fellow). He received the IFAC Control Engineering Practice Prize Paper Award in 1999 (together with M. Nakano and J. She)
Corresponding author: Xuzhi Lai, e-mail: laixz@cug.edu.cn
Received Date: 2024-07-07
Revised Date: 2024-10-03
Accepted Date: 2025-01-05

Available Online: 2025-01-22

Abstract

Abstract

The complex nonlinear characteristics of pneumatic soft actuators, such as asymmetric hysteresis, rate-dependence, and mechanical load-dependence, pose a challenge in accurately modeling their dynamics. To address this challenge, this paper proposes a comprehensive dynamic model aimed at describing bidirectional asymmetric hysteresis, rate-dependent, and mechanical load-dependent characteristics of a vertical pneumatic bellows actuator (PBA) system. The dynamic model contains a hysteresis submodel and a load-dependent dynamic submodel. The hysteresis submodel consists of several sets of weighted double-side play (DSP) and weighted dead-zone (DZ) operators connected in series, and it is used to model the bidirectional asymmetric hysteresis of the system. The load-dependent dynamic submodel is built based on the gated recurrent unit (GRU) neural network, and it is used to fit the nonlinear relationship between the displacement of the system and the frequency of the input air pressure as well as the mechanical load. The model parameters of the hysteresis submodel and the load-dependent dynamic submodel are determined by intelligent optimization method and neural network training method, reseparately. The fitness value (FV) between the output of the dynamic model and the experimental data is calculated to be 96.1736%, demonstrating that the parameters of the dynamic model are valid. We conduct six set of experiments to compare the model output with the experimental data, and calculate the root-mean-square errors and the maximum error, respectively. The experimental results show that, the root-mean-square error remains consistently below 2.7700%, while the maximum error remains below 8.4000% across all experiments, thereby substantiating the validity and generality of the proposed model.
- Bidirectional asymmetric hysteresis,
- dynamic model,
- rate-dependent and mechanical load-dependent,
- soft actuator

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Comprehensive Dynamic Model of Vertical Pneumatic Bellows Actuator System Considering Bidirectional Asymmetric Hysteresis

doi: 10.1109/JAS.2025.125162

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