System Identification And Embedded Controller Design For Pneumatic Actuator With Stiffness Characteristic
This paper presents model and controller design applications to pneumatic actuator embedded system. Two model strategies of position and force are proposed to realize compliance control for stiffness characteristic. Model of the pneumatic actuator system (transfer function) is obtained from system i...
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Hindawi Publishing Corporation
2014
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my.utem.eprints.159672021-09-05T11:03:52Z http://eprints.utem.edu.my/id/eprint/15967/ System Identification And Embedded Controller Design For Pneumatic Actuator With Stiffness Characteristic Khairuddin, Osman Ahmad 'Athif , Mohd Faudzi Mohd Fua'ad , Rahmat Koichi, Suzumori T Technology (General) TA Engineering (General). Civil engineering (General) This paper presents model and controller design applications to pneumatic actuator embedded system. Two model strategies of position and force are proposed to realize compliance control for stiffness characteristic. Model of the pneumatic actuator system (transfer function) is obtained from system identification (SI) method. Next, combination of predictive functional control with observer (PFC-O) design is selected as a new control strategy for pneumatic system. Performance assessment of the controller is performed in MATLAB and validated through real-time experiments using national instrument (NI) devices and programmable system on chip (PSoC) microcontroller. Result shows that the new controller is adapted to the system and able to successfully control both simulation and real-time experiments. Hindawi Publishing Corporation 2014 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/15967/2/271741.pdf Khairuddin, Osman and Ahmad 'Athif , Mohd Faudzi and Mohd Fua'ad , Rahmat and Koichi, Suzumori (2014) System Identification And Embedded Controller Design For Pneumatic Actuator With Stiffness Characteristic. Mathematical Problems in Engineering, 2014. pp. 1-13. ISSN 1563-5147 http://www.hindawi.com/journals/mpe/2014/271741/ http://dx.doi.org/10.1155/2014/271741 |
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T Technology (General) TA Engineering (General). Civil engineering (General) Khairuddin, Osman Ahmad 'Athif , Mohd Faudzi Mohd Fua'ad , Rahmat Koichi, Suzumori System Identification And Embedded Controller Design For Pneumatic Actuator With Stiffness Characteristic |
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This paper presents model and controller design applications to pneumatic actuator embedded system. Two model strategies of position and force are proposed to realize compliance control for stiffness characteristic. Model of the pneumatic actuator system (transfer function) is obtained from system identification (SI) method. Next, combination of predictive functional control with observer (PFC-O) design is selected as a new control strategy for pneumatic system. Performance assessment of the controller is performed in MATLAB and validated through real-time experiments using national instrument (NI) devices and programmable system on chip (PSoC) microcontroller. Result shows that the new controller is adapted to the system and able to successfully control both simulation and real-time experiments. |
format |
Article |
author |
Khairuddin, Osman Ahmad 'Athif , Mohd Faudzi Mohd Fua'ad , Rahmat Koichi, Suzumori |
author_facet |
Khairuddin, Osman Ahmad 'Athif , Mohd Faudzi Mohd Fua'ad , Rahmat Koichi, Suzumori |
author_sort |
Khairuddin, Osman |
title |
System Identification And Embedded Controller Design For
Pneumatic Actuator With Stiffness Characteristic |
title_short |
System Identification And Embedded Controller Design For
Pneumatic Actuator With Stiffness Characteristic |
title_full |
System Identification And Embedded Controller Design For
Pneumatic Actuator With Stiffness Characteristic |
title_fullStr |
System Identification And Embedded Controller Design For
Pneumatic Actuator With Stiffness Characteristic |
title_full_unstemmed |
System Identification And Embedded Controller Design For
Pneumatic Actuator With Stiffness Characteristic |
title_sort |
system identification and embedded controller design for
pneumatic actuator with stiffness characteristic |
publisher |
Hindawi Publishing Corporation |
publishDate |
2014 |
url |
http://eprints.utem.edu.my/id/eprint/15967/2/271741.pdf http://eprints.utem.edu.my/id/eprint/15967/ http://www.hindawi.com/journals/mpe/2014/271741/ http://dx.doi.org/10.1155/2014/271741 |
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1710679402569793536 |
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13.160551 |