Active force control of a fluidic muscle system using fuzzy logic
In this paper, Active Force Control with Fuzzy Logic (AFCFL) technique is applied to the control of a fluidic muscle (also known as pneumatic artificial muscle or PAM) that acts as an actuator to drive a trolley system in a laboratory setting. Since, fluidic muscle has a high-tension force, high pow...
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my.utm.129282017-10-04T06:28:07Z http://eprints.utm.my/id/eprint/12928/ Active force control of a fluidic muscle system using fuzzy logic Mailah, Musa Jahanabad, Hossein Md. Zain, Mohd. Zarhamdy TJ Mechanical engineering and machinery In this paper, Active Force Control with Fuzzy Logic (AFCFL) technique is applied to the control of a fluidic muscle (also known as pneumatic artificial muscle or PAM) that acts as an actuator to drive a trolley system in a laboratory setting. Since, fluidic muscle has a high-tension force, high power/weight ratio, high strength, and cleanliness, ease of maintenance, low cost, compactness and cheap power source, it has caught the attention of researchers in the area of robotics. Despite of its advantageous, the presence of the inherent high nonlinearity behaviour, high hysteresis and time variance in the system has made it a challenging and interesting system for modelling and control design. The main goal of this study is to perform accurate position control of a trolley through a hardware-in-the-loop simulation (HILS) implementation so as to enhance the system performance through the AFCFL scheme. Experimental results demonstrate the effectiveness and robustness of the proposed controller compared to the conventional proportional-integral- derivative (PID) control method. Elsevier 2009-07 Book Section PeerReviewed Mailah, Musa and Jahanabad, Hossein and Md. Zain, Mohd. Zarhamdy (2009) Active force control of a fluidic muscle system using fuzzy logic. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Article number 5229778 . Elsevier, pp. 1970-1975. ISBN 8-142442853-3 http://dx.doi.org/10.1109/AIM.2009.5229778 DOI: 10.1109/AIM.2009.5229778 |
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TJ Mechanical engineering and machinery Mailah, Musa Jahanabad, Hossein Md. Zain, Mohd. Zarhamdy Active force control of a fluidic muscle system using fuzzy logic |
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In this paper, Active Force Control with Fuzzy Logic (AFCFL) technique is applied to the control of a fluidic muscle (also known as pneumatic artificial muscle or PAM) that acts as an actuator to drive a trolley system in a laboratory setting. Since, fluidic muscle has a high-tension force, high power/weight ratio, high strength, and cleanliness, ease of maintenance, low cost, compactness and cheap power source, it has caught the attention of researchers in the area of robotics. Despite of its advantageous, the presence of the inherent high nonlinearity behaviour, high hysteresis and time variance in the system has made it a challenging and interesting system for modelling and control design. The main goal of this study is to perform accurate position control of a trolley through a hardware-in-the-loop simulation (HILS) implementation so as to enhance the system performance through the AFCFL scheme. Experimental results demonstrate the effectiveness and robustness of the proposed controller compared to the conventional proportional-integral- derivative (PID) control method.
|
format |
Book Section |
author |
Mailah, Musa Jahanabad, Hossein Md. Zain, Mohd. Zarhamdy |
author_facet |
Mailah, Musa Jahanabad, Hossein Md. Zain, Mohd. Zarhamdy |
author_sort |
Mailah, Musa |
title |
Active force control of a fluidic muscle system using fuzzy logic |
title_short |
Active force control of a fluidic muscle system using fuzzy logic |
title_full |
Active force control of a fluidic muscle system using fuzzy logic |
title_fullStr |
Active force control of a fluidic muscle system using fuzzy logic |
title_full_unstemmed |
Active force control of a fluidic muscle system using fuzzy logic |
title_sort |
active force control of a fluidic muscle system using fuzzy logic |
publisher |
Elsevier |
publishDate |
2009 |
url |
http://eprints.utm.my/id/eprint/12928/ http://dx.doi.org/10.1109/AIM.2009.5229778 |
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1643646071113515008 |
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13.160551 |