Faudzi, A. A. M. and Mat Lazim, N. H. I. and Suzumori, K. (2016) Modeling and force control of thin soft McKibben actuator. International Journal of Automation Technology, 10 (4). pp. 487-493. ISSN 1881-7629
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Abstract
This paper presents the modeling of a thin soft McKibben actuator using the system identification (SI) method and its force control. Procedures from the system identification method are used to create a mathematical model (transfer function) from the test data. The autoregressive with exogenous input (ARX)model was chosen as the model structure of the system. Next, a PSO-PID controller was proposed for the force control of the actuator. The simulation data were verified against the test data for the force control using PSOPID and conventional PID. Results showed that the developed model represents the actual system by giving the same characteristics in the force control analysis in step, multi-step, and sinusoidal input.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | Actuators, Functions, Identification (control systems), Religious buildings, Three term control systems, ARX model, Autoregressive with exogenous inputs, Control analysis, McKibben actuators, PID-PSO, Sinusoidal input, Soft actuators, System identification methods, Force control |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 74568 |
| Deposited By: | Fazli Masari |
| Deposited On: | 29 Nov 2017 23:58 |
| Last Modified: | 29 Nov 2017 23:58 |
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