System Identification and PID-PSO Force Control of Thin Soft Actuator

Abstract

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.