{"id":"https://openalex.org/W2927974577","doi":"https://doi.org/10.1109/access.2019.2909387","title":"A Phenomenological Model-Based Controller for Position Tracking of a Pneumatic Muscle Actuator Driven Setup","display_name":"A Phenomenological Model-Based Controller for Position Tracking of a Pneumatic Muscle Actuator Driven Setup","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2927974577","doi":"https://doi.org/10.1109/access.2019.2909387","mag":"2927974577"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2909387","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2909387","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08681582.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08681582.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002584717","display_name":"Jun Zhong","orcid":"https://orcid.org/0000-0002-9942-3833"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Zhong","raw_affiliation_strings":["Jiangsu Key Laboratory of Special Robot Technology, College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9942-3833","affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory of Special Robot Technology, College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101587134","display_name":"Chun Zhao","orcid":"https://orcid.org/0000-0002-8308-4793"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chun Zhao","raw_affiliation_strings":["Jiangsu Key Laboratory of Special Robot Technology, College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory of Special Robot Technology, College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I163340411"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.6775,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.66318763,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"45662","last_page":"45669"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7137237787246704},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6791672706604004},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.670514702796936},{"id":"https://openalex.org/keywords/quartic-function","display_name":"Quartic function","score":0.6092898845672607},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5858584642410278},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5682035684585571},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5445937514305115},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.4828789532184601},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4747781455516815},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47313275933265686},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.45421186089515686},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44958874583244324},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.43556928634643555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2669820785522461},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.230703204870224},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22042635083198547},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14377614855766296},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12904974818229675}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7137237787246704},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6791672706604004},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.670514702796936},{"id":"https://openalex.org/C130432447","wikidata":"https://www.wikidata.org/wiki/Q11420049","display_name":"Quartic function","level":2,"score":0.6092898845672607},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5858584642410278},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5682035684585571},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5445937514305115},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.4828789532184601},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4747781455516815},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47313275933265686},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.45421186089515686},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44958874583244324},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.43556928634643555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2669820785522461},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.230703204870224},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22042635083198547},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14377614855766296},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12904974818229675},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2909387","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2909387","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08681582.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:0d81c17ab42e4c808aab72a4ef6198c5","is_oa":true,"landing_page_url":"https://doaj.org/article/0d81c17ab42e4c808aab72a4ef6198c5","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 45662-45669 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2909387","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2909387","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08681582.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.800000011920929}],"awards":[{"id":"https://openalex.org/G1002585803","display_name":null,"funder_award_id":"BE2017647","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G5221233842","display_name":null,"funder_award_id":"BK20170301","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"}],"funders":[{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2927974577.pdf","grobid_xml":"https://content.openalex.org/works/W2927974577.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1545793802","https://openalex.org/W1972653385","https://openalex.org/W2000875278","https://openalex.org/W2009916955","https://openalex.org/W2031753463","https://openalex.org/W2053036469","https://openalex.org/W2061505998","https://openalex.org/W2070140943","https://openalex.org/W2074045681","https://openalex.org/W2075795552","https://openalex.org/W2108303641","https://openalex.org/W2120416730","https://openalex.org/W2120869143","https://openalex.org/W2127157297","https://openalex.org/W2132660967","https://openalex.org/W2137532114","https://openalex.org/W2171138495","https://openalex.org/W2340361592","https://openalex.org/W2343277025","https://openalex.org/W2396240259","https://openalex.org/W2398528745","https://openalex.org/W2514523983","https://openalex.org/W2542329334","https://openalex.org/W2571136349","https://openalex.org/W2583278904","https://openalex.org/W2586445877","https://openalex.org/W2616102980","https://openalex.org/W2743139441","https://openalex.org/W2752087970","https://openalex.org/W2768737987","https://openalex.org/W2784322890","https://openalex.org/W2793183944","https://openalex.org/W2793444825","https://openalex.org/W2795829869","https://openalex.org/W6680018983"],"related_works":["https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W2014474025","https://openalex.org/W2773810465","https://openalex.org/W2619747063","https://openalex.org/W1502247793","https://openalex.org/W2061360313","https://openalex.org/W211888945","https://openalex.org/W2123055169","https://openalex.org/W1978574942"],"abstract_inverted_index":{"Pneumatic":[0],"muscle":[1],"actuators":[2],"(PMAs)":[3],"have":[4],"been":[5],"attracting":[6],"attention":[7],"in":[8,126],"recent":[9],"years":[10],"due":[11],"to":[12,41,109,121],"characteristics":[13],"of":[14,35,47,80,114,131],"natural":[15],"compliance,":[16],"high":[17],"power":[18],"output,":[19],"lightweight,":[20],"and":[21,26,33,51,56,73,93],"low":[22],"cost.":[23],"Various":[24],"apparatus":[25,82],"robots":[27],"are":[28,39,53,91,119],"developed":[29],"by":[30,83,100],"adopting":[31],"PMAs":[32],"kinds":[34],"advanced":[36],"controlling":[37],"strategies":[38,52],"proposed":[40,49,124],"improve":[42,110],"achieving":[43],"accuracy.":[44],"However,":[45],"many":[46],"the":[48,60,81,102,111,115,123,128,132],"models":[50,79,90,104],"very":[54],"complex":[55],"not":[57],"suitable":[58],"for":[59],"actual":[61],"application.":[62],"In":[63],"this":[64],"paper,":[65],"we":[66],"devise":[67],"a":[68],"single":[69],"PMA":[70],"driven":[71],"setup":[72],"build":[74],"up":[75],"empirical":[76],"quartic":[77],"polynomial":[78],"fitting":[84],"sampled":[85],"pressure-displacement":[86],"data.":[87],"The":[88,117],"novel":[89],"compact":[92],"easily":[94],"computable.":[95],"An":[96],"improved":[97],"PID":[98],"algorithm":[99],"employing":[101],"phenomenological":[103],"as":[105],"feed-forward":[106],"is":[107],"devised":[108],"dynamical":[112],"response":[113],"setup.":[116],"experiments":[118],"performed":[120],"assess":[122],"controller":[125],"improving":[127],"position":[129],"accuracy":[130],"apparatus.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}