System identification and PID-PSO force control of thin soft actuator
This paper presents the System Identification (SI) method for modeling of thin soft actuator and its force control using PID-PSO. System identification is used to obtain the mathematical model (transfer function) from the measured experimental data using the SI procedure. Auto Regressive with Exogen...
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my.utm.610592017-08-14T03:51:05Z http://eprints.utm.my/id/eprint/61059/ System identification and PID-PSO force control of thin soft actuator Mohd. Faudzi, Ahmad 'Athif Izzuddin Mat Lazim, Noor Hanis Suzumori, Koichi Mukri, Mohd. 'Azizir Rahim TK Electrical engineering. Electronics Nuclear engineering This paper presents the System Identification (SI) method for modeling of thin soft actuator and its force control using PID-PSO. System identification is used to obtain the mathematical model (transfer function) from the measured experimental data using the SI procedure. Auto Regressive with Exogenous Input (ARX) model is chosen as model structure of the system. The result from SI model shows linear discrete model to obtain a discrete transfer function for the soft actuator system. Next, PSO-PID controller was proposed for the force control of the actuator. Validation was made between simulation and experimental data for the force control. Results show that the developed model represents the actual system by giving same characteristics in the force control analysis. 2015 Conference or Workshop Item PeerReviewed Mohd. Faudzi, Ahmad 'Athif and Izzuddin Mat Lazim, Noor Hanis and Suzumori, Koichi and Mukri, Mohd. 'Azizir Rahim (2015) System identification and PID-PSO force control of thin soft actuator. In: 2015 JSME/RMD International Conference On Advanced Mechatronics (ICAM2015), 5-8 Dec, 2015, Japan. http://www.knt.co.jp/ec/2015/icam2015/ |
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TK Electrical engineering. Electronics Nuclear engineering Mohd. Faudzi, Ahmad 'Athif Izzuddin Mat Lazim, Noor Hanis Suzumori, Koichi Mukri, Mohd. 'Azizir Rahim System identification and PID-PSO force control of thin soft actuator |
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This paper presents the System Identification (SI) method for modeling of thin soft actuator and its force control using PID-PSO. System identification is used to obtain the mathematical model (transfer function) from the measured experimental data using the SI procedure. Auto Regressive with Exogenous Input (ARX) model is chosen as model structure of the system. The result from SI model shows linear discrete model to obtain a discrete transfer function for the soft actuator system. Next, PSO-PID controller was proposed for the force control of the actuator. Validation was made between simulation and experimental data for the force control. Results show that the developed model represents the actual system by giving same characteristics in the force control analysis. |
format |
Conference or Workshop Item |
author |
Mohd. Faudzi, Ahmad 'Athif Izzuddin Mat Lazim, Noor Hanis Suzumori, Koichi Mukri, Mohd. 'Azizir Rahim |
author_facet |
Mohd. Faudzi, Ahmad 'Athif Izzuddin Mat Lazim, Noor Hanis Suzumori, Koichi Mukri, Mohd. 'Azizir Rahim |
author_sort |
Mohd. Faudzi, Ahmad 'Athif |
title |
System identification and PID-PSO force control of thin soft actuator |
title_short |
System identification and PID-PSO force control of thin soft actuator |
title_full |
System identification and PID-PSO force control of thin soft actuator |
title_fullStr |
System identification and PID-PSO force control of thin soft actuator |
title_full_unstemmed |
System identification and PID-PSO force control of thin soft actuator |
title_sort |
system identification and pid-pso force control of thin soft actuator |
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2015 |
url |
http://eprints.utm.my/id/eprint/61059/ http://www.knt.co.jp/ec/2015/icam2015/ |
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1643655058044223488 |
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13.159267 |