Hysteresis phenomenon limits the effective use of pneumatic artificial muscles in numerous driving applications. Experimental results show widening hysteresis loops and lowering displacement amplitudes by increasing excitation frequency. In this study, a feedforward controller is proposed to compensate for this hysteretic behavior. This proposed controller is based on a rate-dependent Prandtl–Ishlinskii model. In order to avoid analytical calculation of inverse model, a direct inverse model is proposed. To identify unknown parameters of a direct inverse rate-dependent model, an inverse model of the rate-independent Generalized Prandtl-Ishlinskii (GPI) is used. The inverse GPI model can provide a fairly accurate output to diminish the hysteresis effect at a single-frequency hysteresis. The genetic algorithm combined with an interior-point method as a gradient-based optimization, is proposed to estimate the parameters of the proposed controller quickly. Simulation and experimental results show that the proposed feedforward controller that is identified along this new approach is able to compensate for the hysteresis in the PAM-driven catheter successfully. The identification procedure to optimize the parameters takes less than five minutes and is thus very convenient in use. It should be noted that while demonstrated on a single PAM, the approach is believed to be general and hence also applicable to other actuators that possess the complex hysteresis behavior.

滞后现象限制了在许多驾驶应用中有效使用气动人造肌肉。实验结果表明，通过增加激励频率，磁滞回线变宽，位移幅度减小。在这项研究中，提出了一种前馈控制器来补偿这种滞后行为。提出的控制器基于速率相关的Prandtl–Ishlinskii模型。为了避免逆模型的解析计算，提出了一种直接逆模型。为了识别直接的与速率无关的逆模型的未知参数，使用了与速率无关的广义普朗特-伊什林斯基（GPI）的模型。逆GPI模型可以提供相当准确的输出，以减小单频磁滞下的磁滞效应。提出将遗传算法与内点法相结合作为基于梯度的优化方法，以快速估计所提出控制器的参数。仿真和实验结果表明，采用这种新方法确定的拟议前馈控制器能够成功补偿PAM驱动导管中的磁滞现象。优化参数的识别过程不到五分钟，因此使用非常方便。应当注意，尽管在单个PAM上进行了演示，但该方法被认为是通用的，因此也适用于具有复杂磁滞行为的其他执行器。仿真和实验结果表明，采用这种新方法确定的拟议前馈控制器能够成功补偿PAM驱动导管中的磁滞现象。优化参数的识别过程不到五分钟，因此使用非常方便。应当注意，尽管在单个PAM上进行了演示，但该方法被认为是通用的，因此也适用于具有复杂磁滞行为的其他执行器。仿真和实验结果表明，采用这种新方法确定的拟议前馈控制器能够成功补偿PAM驱动导管中的磁滞现象。优化参数的识别过程不到五分钟，因此使用非常方便。应当注意，尽管在单个PAM上进行了演示，但该方法被认为是通用的，因此也适用于具有复杂磁滞行为的其他执行器。