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Abstract and Applied Analysis
Volume 2015, Article ID 906126, 16 pages
Research Article

Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Faculty of Manufacturing Technologies with a Seat in Prešov, Technical University of Košice, Bayerova 1, 080 01 Prešov, Slovakia

Received 16 October 2014; Accepted 22 January 2015

Academic Editor: Mathiyalagan Kalidass

Copyright © 2015 Alexander Hošovský et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


To make effective use of model-based control system design techniques, one needs a good model which captures system’s dynamic properties in the range of interest. Here an analytical model of pneumatic muscle actuator with two pneumatic artificial muscles driving a rotational joint is developed. Use of analytical model makes it possible to retain the physical interpretation of the model and the model is validated using open-loop responses. Since it was considered important to design a robust controller based on this model, the effect of changed moment of inertia (as a representation of uncertain parameter) was taken into account and compared with nominal case. To improve the accuracy of the model, these effects are treated as a disturbance modeled using the recurrent (Elman) neural network. Recurrent neural network was preferred over feedforward type due to its better long-term prediction capabilities well suited for simulation use of the model. The results confirm that this method improves the model performance (tested for five of the measured variables: joint angle, muscle pressures, and muscle forces) while retaining its physical interpretation.