Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control

• Main Authors: Addie Irawan, Hashim, Mohd Iskandar Putra, Azahar, Mohd Syakirin, Ramli
• Format: Article
• Language: English
• Published: SIGMA BOT 2023
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/38608/1/Pressure%20Regulation%20on%20A%20Single%20Finger%20of%20Tri-Finger%20Pneumatic%20Grasper%20Robot%20using%20Finite%20Time%20and%20Convergence%20Prescribed%20Performance%20Control.pdf; http://umpir.ump.edu.my/id/eprint/38608/; https://pe.org.pl/articles/2023/9/18.pdf

This study presents a method for improving the precision of pneumatic pressure regulation and control in a finger of a tri-finger pneumatic grasper (TPG) robot. The method employs finite time and convergence prescribed performance control (FTC-PPC) in conjunction with proportional, integral, and derivative (PID) control as a strategy to overcome the nonlinearity and uncertainties of pressure regulation of the pneumatic system in the TPG. Besides finite-time tuning, the proposed PPC formulation also introduced convergence rate and domain. To test the method, several experiments were conducted using a 5/3-way pneumatic proportional valve (PPV) configuration with pressure transducers for feedback responses. Two different pressure input patterns, a step, and periodic in-put patterns were used in the experiments. The results show that the proposed controller outperformed the PID as well as the finite-time PPC with PID from the previous works in regulating the pressure for a finger of the TPG by average. 10% in terms of minimizing overshoot, suppressing oscillations, and providing a fast response.