Stabilizability of an antagonistic biomimetic actuator system

1998 ◽  
Author(s):  
R.M. Kolacinski ◽  
Wei Lin ◽  
H. Chizeck
Keyword(s):  
Actuator System ◽  
Biomimetic Actuator

A novel biomimetic actuator system

1998 ◽  
Vol 25 (1-2) ◽  
pp. 1-18 ◽  
Author(s):  
Richard M. Kolacinski ◽  
Roger D. Quinn
Keyword(s):  
Actuator System ◽  
Biomimetic Actuator

Control of an antagonistic biomimetic actuator system

2000 ◽  
Vol 73 (9) ◽  
pp. 804-818 ◽  
Author(s):  
Richard M. Kolacinski ◽  
Wei Lin ◽  
Howard Jay Chizeck
Keyword(s):  
Actuator System ◽  
Biomimetic Actuator

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

scholarly journals High-Fidelity Fin–Actuator System Modeling and Aeroelastic Analysis Considering Friction Effect

2021 ◽  
Vol 11 (7) ◽  
pp. 3057
Author(s):  
Jin Lu ◽  
Zhigang Wu ◽  
Chao Yang
Keyword(s):  
System Modeling ◽  
Past Research ◽  
High Fidelity ◽  
Aeroelastic Stability ◽  
Aeroelastic Analysis ◽  
Structural Nonlinearities ◽  
Flutter Boundary ◽  
Actuator System ◽  
Friction Models ◽  
Comparison Of The Results

Both the dynamic characteristics and structural nonlinearities of an actuator will affect the flutter boundary of a fin–actuator system. The actuator models used in past research are not universal, the accuracy is difficult to guarantee, and the consideration of nonlinearity is not adequate. Based on modularization, a high-fidelity modeling method for an actuator is proposed in this paper. This model considers both freeplay and friction, which is easy to expand. It can be directly used to analyze actuator characteristics and perform aeroelastic analysis of fin–actuator systems. Friction can improve the aeroelastic stability, but the mechanism of its influence on the aeroelastic characteristics of the system has not been reported. In this paper, the LuGre model, which can better reflect the friction characteristics, was integrated into the actuator. The influence of the initial condition, freeplay, and friction on the aeroelastic characteristics of the system was analyzed. The comparison of the results with the previous research shows that oversimplified friction models are not accurate enough to reflect the mechanism of friction’s influence. By changing the loads, material, and geometry of contact surfaces, flutter can be effectively suppressed, and the power loss caused by friction can be minimized.

scholarly journals Electromagnetic Actuator System Using Witty Control System

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 65
Author(s):  
Der-Fa Chen ◽  
Shen-Pao-Chi Chiu ◽  
An-Bang Cheng ◽  
Jung-Chu Ting
Keyword(s):  
Control System ◽  
Control Method ◽  
Search Algorithm ◽  
Electromagnetic Actuator ◽  
Control Performance ◽  
Learning Capability ◽  
Learning Rates ◽  
Agricultural Applications ◽  
Actuator System ◽  
Rice Milling

Electromagnetic actuator systems composed of an induction servo motor (ISM) drive system and a rice milling machine system have widely been used in agricultural applications. In order to achieve a finer control performance, a witty control system using a revised recurrent Jacobi polynomial neural network (RRJPNN) control and two remunerated controls with an altered bat search algorithm (ABSA) method is proposed to control electromagnetic actuator systems. The witty control system with finer learning capability can fulfill the RRJPNN control, which involves an attunement law, two remunerated controls, which have two evaluation laws, and a dominator control. Based on the Lyapunov stability principle, the attunement law in the RRJPNN control and two evaluation laws in the two remunerated controls are derived. Moreover, the ABSA method can acquire the adjustable learning rates to quicken convergence of weights. Finally, the proposed control method exhibits a finer control performance that is confirmed by experimental results.

scholarly journals Characterisation and Control of a Woven Biomimetic Actuator for Wearable Neurorehabilitative Devices

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 37
Author(s):  
Vaughan Murphy ◽  
Brandon P. R. Edmonds ◽  
Ana Luisa Trejos
Keyword(s):  
Performance Metrics ◽  
Woven Fabric ◽  
Total Force ◽  
Control Methods ◽  
Soft Actuator ◽  
Sewing Thread ◽  
And Control ◽  
Fabric Mesh ◽  
Biomimetic Actuator ◽  
Multiple Units

Twisted coiled actuators (TCAs) are a type of soft actuator made from polymer fibres such as nylon sewing thread. As they provide motion in a compact, lightweight, and flexible package, they provide a solution to the actuation of wearable mechatronic devices for motion assistance. Their limitation is that they provide low total force, requiring them to actuate in parallel with multiple units. Previous literature has shown that the force and stroke production can be improved by incorporating them into fabric meshes. A fabric mesh could also improve the contraction efficiency, strain rate, and user comfort. Therefore, this study focused on measuring these performance metrics for a set of TCAs embedded into a woven fabric mesh. The experimental results show that the stroke of the actuators scaled linearly with the number of activated TCAs, achieving a maximum applied force of 11.28 N, a maximum stroke of 12.23%, and an efficiency of 1.8%. Additionally, two control methods were developed and evaluated, resulting in low overshoot and steady-state error. These results indicate that the designed actuators are viable for use in wearable mechatronic devices, since they can scale to meet different requirements, while being able to be accurately controlled with minimal additional components.

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