Modeling and Force Control of Thin Soft McKibben Actuator | Zendy

Ahmad Athif Mohd Faudzi | Zendy; Izzuddin Mat Lazim | Zendy; Koichi Suzumori | Zendy

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Modeling and Force Control of Thin Soft McKibben Actuator

Author(s) -

Ahmad Athif Mohd Faudzi,

Izzuddin Mat Lazim,

Koichi Suzumori

Publication year - 2016

Publication title -

international journal of automation technology

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.513

H-Index - 18

eISSN - 1883-8022

pISSN - 1881-7629

DOI - 10.20965/ijat.2016.p0487

Subject(s) - pid controller , control theory (sociology) , actuator , system identification , transfer function , autoregressive model , control system , control engineering , controller (irrigation) , engineering , computer science , control (management) , data modeling , mathematics , artificial intelligence , temperature control , agronomy , electrical engineering , econometrics , biology , software engineering

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.

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