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Active force control of a fluidic muscle system using fuzzy logic

Mailah, Musa and Jahanabad, Hossein and Md. Zain, M. Z. (2009) Active force control of a fluidic muscle system using fuzzy logic. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Article number 5229778 . Elsevier, pp. 1970-1975. ISBN 8-142442853-3

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Official URL: http://dx.doi.org/10.1109/AIM.2009.5229778

Abstract

In this paper, Active Force Control with Fuzzy Logic (AFCFL) technique is applied to the control of a fluidic muscle (also known as pneumatic artificial muscle or PAM) that acts as an actuator to drive a trolley system in a laboratory setting. Since, fluidic muscle has a high-tension force, high power/weight ratio, high strength, and cleanliness, ease of maintenance, low cost, compactness and cheap power source, it has caught the attention of researchers in the area of robotics. Despite of its advantageous, the presence of the inherent high nonlinearity behaviour, high hysteresis and time variance in the system has made it a challenging and interesting system for modelling and control design. The main goal of this study is to perform accurate position control of a trolley through a hardware-in-the-loop simulation (HILS) implementation so as to enhance the system performance through the AFCFL scheme. Experimental results demonstrate the effectiveness and robustness of the proposed controller compared to the conventional proportional-integral- derivative (PID) control method.

Item Type:Book Section
Additional Information:2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009; Singapore; 14 July 2009 through 17 July 2009.
Uncontrolled Keywords:active force control, control design, fluidic muscles
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:12928
Deposited By: Ms Zalinda Shuratman
Deposited On:07 Jul 2011 04:32
Last Modified:07 Jul 2011 04:32

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