System identification and PI neuro-fuzzy control a pneumatic actuator

Abstract

Pneumatic actuators have a number of advantages over electric motors, including strength-to-weight ratio, tunable compliance at the mechanism level, robustness, as well as the low price. The Intelligent Pneumatic Actuators (IPA) is a new generation of actuators for research and development (R&D). This research proposes a force model of IPA based on system identification technique. A proportional derivative adaptive neuro fuzzy controller (PI-ANFIS) is presented to validate the new model with real time results. The position IPA is controlled by P-ANFIS controller in MATLAB simulation environment and applied on the real IPA plant. Thereafter the stiffness characteristic of IPA is tested in simulation environment by using two different control techniques based on the proposed position and force control. Finally, a comparison is made between the obtained results and showed that, the objectives were achieved successfully.