A piecewise affine system modeling approach of thin McKibben muscle servo actuator
Dynamic characteristic of thin McKibben muscle has not yet been fully investigated. Therefore, the objective of this study is to propose a piecewise affine system to model a thin McKibben muscle servo actuator. The static and dynamic modeling of the actuator has been performed using first principle...
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Springer Science and Business Media Deutschland GmbH
2022
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my.utm.1006572023-04-30T08:26:41Z http://eprints.utm.my/id/eprint/100657/ A piecewise affine system modeling approach of thin McKibben muscle servo actuator Mhd. Yusoff, Mohd. Akmal Mohd. Faudzi, Ahmad Athif Hassan Basri, Mohd. Shukry Rahmat, Mohd. Fuaad TK Electrical engineering. Electronics Nuclear engineering Dynamic characteristic of thin McKibben muscle has not yet been fully investigated. Therefore, the objective of this study is to propose a piecewise affine system to model a thin McKibben muscle servo actuator. The static and dynamic modeling of the actuator has been performed using first principle approach. Different models for extension and retraction operations have been presented. The step input responses of the model have been simulated and compared to the actual system response. Result shows that the model’s response is similar to the actual system with steady-state errors of 1.18% for 0.2 MPa input and 0% for 0.25 and 0.3 MPa inputs. The evidence from this study suggests that a piecewise affine system can be used to model a thin McKibben muscle servo actuator, which would facilitate future development of a novel switching controller. Springer Science and Business Media Deutschland GmbH 2022 Book Section PeerReviewed Mhd. Yusoff, Mohd. Akmal and Mohd. Faudzi, Ahmad Athif and Hassan Basri, Mohd. Shukry and Rahmat, Mohd. Fuaad (2022) A piecewise affine system modeling approach of thin McKibben muscle servo actuator. In: Enabling Industry 4.0 through Advances in Mechatronics Selected Articles from iM3F 2021, Malaysia. Lecture Notes in Electrical Engineering, 900 (NA). Springer Science and Business Media Deutschland GmbH, Singapore, pp. 113-124. ISBN 978-981192094-3 http://dx.doi.org/10.1007/978-981-19-2095-0_11 DOI:10.1007/978-981-19-2095-0_11 |
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TK Electrical engineering. Electronics Nuclear engineering Mhd. Yusoff, Mohd. Akmal Mohd. Faudzi, Ahmad Athif Hassan Basri, Mohd. Shukry Rahmat, Mohd. Fuaad A piecewise affine system modeling approach of thin McKibben muscle servo actuator |
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Dynamic characteristic of thin McKibben muscle has not yet been fully investigated. Therefore, the objective of this study is to propose a piecewise affine system to model a thin McKibben muscle servo actuator. The static and dynamic modeling of the actuator has been performed using first principle approach. Different models for extension and retraction operations have been presented. The step input responses of the model have been simulated and compared to the actual system response. Result shows that the model’s response is similar to the actual system with steady-state errors of 1.18% for 0.2 MPa input and 0% for 0.25 and 0.3 MPa inputs. The evidence from this study suggests that a piecewise affine system can be used to model a thin McKibben muscle servo actuator, which would facilitate future development of a novel switching controller. |
format |
Book Section |
author |
Mhd. Yusoff, Mohd. Akmal Mohd. Faudzi, Ahmad Athif Hassan Basri, Mohd. Shukry Rahmat, Mohd. Fuaad |
author_facet |
Mhd. Yusoff, Mohd. Akmal Mohd. Faudzi, Ahmad Athif Hassan Basri, Mohd. Shukry Rahmat, Mohd. Fuaad |
author_sort |
Mhd. Yusoff, Mohd. Akmal |
title |
A piecewise affine system modeling approach of thin McKibben muscle servo actuator |
title_short |
A piecewise affine system modeling approach of thin McKibben muscle servo actuator |
title_full |
A piecewise affine system modeling approach of thin McKibben muscle servo actuator |
title_fullStr |
A piecewise affine system modeling approach of thin McKibben muscle servo actuator |
title_full_unstemmed |
A piecewise affine system modeling approach of thin McKibben muscle servo actuator |
title_sort |
piecewise affine system modeling approach of thin mckibben muscle servo actuator |
publisher |
Springer Science and Business Media Deutschland GmbH |
publishDate |
2022 |
url |
http://eprints.utm.my/id/eprint/100657/ http://dx.doi.org/10.1007/978-981-19-2095-0_11 |
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