Modeling and force control of thin soft McKibben actuator

被引：0

作者：

Faudzi A.A.M. ^{[1
,3
]}

Mat Lazim N.H.I. ^{[2
]}

Suzumori K. ^{[3
]}

机构：

[1] Center for Artificial Intelligence and Robotics (CAIRO), Universiti Teknologi Malaysia, Johor Bahru, 81310, Johor

[2] Universiti Sains Islam Malaysia, Nilai, 71800, Negeri Sembilan

[3] Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8552, Tokyo

来源：

Faudzi, Ahmad Athif Mohd (athif@utm.my) | 2016年 / Fuji Technology Press卷 / 10期

关键词：

ARX model; Force control; PID-PSO; System identification; Thin soft actuator;

D O I：

10.20965/ijat.2016.p0487

中图分类号：

学科分类号：

摘要：

This paper presents the modeling of a thin soft McKibben actuator using the system identification (SI) method and its force control. Procedures from the system identification method are used to create a mathematical model (transfer function) from the test data. The autoregressive with exogenous input (ARX)model was chosen as the model structure of the system. Next, a PSO-PID controller was proposed for the force control of the actuator. The simulation data were verified against the test data for the force control using PSOPID and conventional PID. Results showed that the developed model represents the actual system by giving the same characteristics in the force control analysis in step, multi-step, and sinusoidal input. © 2016, Fuji Technology Press. All rights reseved.

引用

页码：487 / 493

页数：6

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