Abstract
This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first established based on known system parameters. However, in real PAM-actuated systems, the uncertainties are inherited features in their parameters and hence an adaptive synergetic control algorithm is proposed and synthesized for a PAM-actuated robot arm subjected to perturbation in its parameters. The adaptive synergetic laws are developed to estimate the uncertainties and to guarantee the asymptotic stability of the adaptive synergetic controlled PAM-actuated system. The work has also presented an improvement in the performance of proposed synergetic controllers (classical and adaptive) by applying a modern optimization technique based on Particle Swarm Optimization (PSO) to tune their design parameters towards optimal dynamic performance. The effectiveness of the proposed classical and adaptive synergetic controllers has been verified via computer simulation and it has been shown that the adaptive controller could cope with uncertainties and keep the controlled system stable. The proposed optimal Adaptive Synergetic Controller (ASC) has been validated with a previous adaptive controller with the same robot structure and actuation, and it has been shown that the optimal ASC outperforms its opponent in terms of tracking speed and error.
Highlights
Pneumatic actuators such as cylinders, pneumatic stepper motors, bellows, and pneumatic engines are commonly used to date
Pneumatic Artificial Muscles (PAMs) are one type of pneumatic actuator, which are made mainly of inflatable and flexible membrane that works like inverse bellows; i.e., they contract on inflation
This optimization tuner is the performance of tracking control. To handle this important issue, an adaptive control method is performance of tracking control. To handle this important issue, an adaptive control method is from external disturbances, uncertainties, highmain nonlinearities, hysteresis andactuated time varying characteristics, which dramatically degrade the
Summary
Pneumatic actuators such as cylinders, pneumatic stepper motors, bellows, and pneumatic engines are commonly used to date. To handle this important issue, an adaptive control method is performance of tracking control To handle this important issue, an adaptive control method is from external disturbances, uncertainties (e.g., unknown parameters and unmodeled uncertainties, each other characterized by fast convergence, the efficiency of computation and it has the capability to find local proposed for the the PAM-actuated one-link robot arm, which can can deal effectively with the influence proposed for arm, which deal effectively with the influence etc.), highmain nonlinearities, hysteresis andactuated time varying characteristics, which dramatically degrade the. The contribution of the present work be embodied by pursuing thetuning following steps of on stability technique introduced for therobot designed parameters of PAM-actuated robot arms named as is classical synergetic controller (CSC), Lypunov. That the contribution of the present work can be embodied by pursuing the following steps on of all errors converge to their corresponding zero equilibrium points based inherited in parameters of the PAM-actuated robot arm.
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