Comparison Between an Intelligent Controller and a Sliding Mode Controller to Positioning Pneumatic Actuators

2014 ◽  
Author(s):  
Naghmeh Garmsiri ◽  
Nariman Sepehri
Keyword(s):  
Sliding Mode ◽  
Low Cost ◽  
Static Friction ◽  
Good Choice ◽  
Pneumatic Actuator ◽  
Pneumatic Actuators ◽  
Intelligent Controller ◽  
Model Free ◽  
Consistent Performance ◽  
Model Free Controller

Sliding Mode Control (SMC) technique is a well-established method in positioning pneumatic actuators due to its consistent performance in the presence of model uncertainties. Brain Emotional Learning Based Intelligent Controller (BELBIC) is a new model free controller with flexible structure and low computational load. It has been successfully applied to many control problems. In this work we study, for the first time, how well a BELBIC performs in comparison with SMC approach in positioning a pneumatic actuator. Different position tracking tasks are evaluated on a low-cost pneumatic actuator and in presence of significant friction. Comparison is done based on positioning accuracy, non-oscillatory motion and robustness to external load. The results show that while both controllers successfully track different trajectories, SMC is generally more accurate. BELBIC maintains its performance in the presence of large static friction. Furthermore, it produces less oscillatory control action. This work concludes that BELBIC can be a good choice for positioning of pneumatic actuators.

Embedded Force Control Gripper for Frangible Fruit Robotic Manipulation

2013 ◽  
Vol 284-287 ◽  
pp. 1841-1845
Author(s):  
Shiuh Jer Huang ◽  
Wei Han Chang ◽  
Janq Yann Lin
Keyword(s):  
Force Control ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Control Function ◽  
Low Cost ◽  
Banana Fruit ◽  
Embedded Control ◽  
Model Free ◽  
Position Controller ◽  
Hybrid Control System

Here a low cost embedded robotic gripper with force control function is designed for frangible fruit manipulation. This embedded control gripper is integrated with a Mitsubishi robot based on FPGA control structure. The model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each joint and gripper force controller, respectively. Experimental results of pick-and-place frangible small tomato and banana fruit are shown by pictures to evaluate this embedded position/force hybrid control system performance.

SOFT FOOD ROBOTIC PICK AND PLACE OPERATION WITH EMBEDDED CONTROL STRUCTURE

2013 ◽  
Vol 37 (3) ◽  
pp. 273-282
Author(s):  
Shiuh-Jer Huang ◽  
Wei-Han Chang ◽  
Janq-Yann Lin
Keyword(s):  
Position Control ◽  
Control Structure ◽  
Sliding Mode ◽  
Low Cost ◽  
Embedded Control ◽  
Model Free ◽  
Pick And Place ◽  
Position Controller ◽  
Soft Objects ◽  
Pick And Place Operation

Robotic pick-and-place operation is planned for handling hard objects with on-off control gripper. It does not have force monitoring capability for safe grasping soft objects. Current force/torque sensor is too expensive and difficult to implement. Here, a low cost embedded control structure is designed with distributed FPGA robotic position control and gripper Arduino force control kernels. A model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each robotic joint and gripper force controller. Experimental results show that the position and force tracking control errors of this robotic system are less than 1 mm and 0.1 N, respectively for pick-and-place different soft foods.

Passive and Active Control Strategies of a Leg Rehabilitation Exoskeleton Powered by Pneumatic Artificial Muscles

2017 ◽  
Vol 31 (10) ◽  
pp. 1759021 ◽  
Author(s):  
Chen Su ◽  
Ao Chai ◽  
Xikai Tu ◽  
Hongyu Zhou ◽  
Haiqiang Wang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Sliding Mode ◽  
Control Strategies ◽  
Low Cost ◽  
Gait Training ◽  
Interaction Force ◽  
Gait Rehabilitation ◽  
Artificial Muscles ◽  
Model Free ◽  
Pneumatic Artificial Muscles

Nerve injury can cause lower limb paralysis and gait disorder. Currently lower limb rehabilitation exoskeleton robots used in the hospitals need more power to correct abnormal motor patterns of stroke patients’ legs. These gait rehabilitation robots are powered by cumbersome and bulky electric motors, which provides a poor user experience. A newly developed gait rehabilitation exoskeleton robot actuated by low-cost and lightweight pneumatic artificial muscles (PAMs) is presented in this research. A model-free proxy-based sliding mode control (PSMC) strategy and a model-based chattering mitigation robust variable control (CRVC) strategy were developed and first applied in rehabilitation trainings, respectively. As the dynamic response of PAM due to the compressed air is low, an innovative intention identification control strategy was taken in active trainings by the use of the subject’s intention indirectly through the estimation of the interaction force between the subject’s leg and the exoskeleton. The proposed intention identification strategy was verified by treadmill-based gait training experiments.

scholarly journals Nonlinear Mathematical Modeling in Pneumatic Servo Position Applications

2011 ◽  
Vol 2011 ◽  
pp. 1-16 ◽  
Author(s):  
Antonio Carlos Valdiero ◽  
Carla Silvane Ritter ◽  
Cláudio Fernando Rios ◽  
Marat Rafikov
Keyword(s):  
Mathematical Modeling ◽  
Low Cost ◽  
Dead Zone ◽  
Dynamic Performance ◽  
Nonlinear Dynamic System ◽  
Pneumatic Actuator ◽  
Pneumatic Actuators ◽  
Precise Control ◽  
Behavior Study ◽  
Fifth Order

This paper addresses a new methodology for servo pneumatic actuators mathematical modeling and selection from the dynamic behavior study in engineering applications. The pneumatic actuator is very common in industrial application because it has the following advantages: its maintenance is easy and simple, with relatively low cost, self-cooling properties, good power density (power/dimension rate), fast acting with high accelerations, and installation flexibility. The proposed fifth-order nonlinear mathematical model represents the main characteristics of this nonlinear dynamic system, as servo valve dead zone, air flow-pressure relationship through valve orifice, air compressibility, and friction effects between contact surfaces in actuator seals. Simulation results show the dynamic performance for different pneumatic cylinders in order to see which features contribute to a better behavior of the system. The knowledge of this behavior allows an appropriate choice of pneumatic actuator, mainly contributing to the success of their precise control in several applications.

Adaptive Pneumatic Force Actuation and Position Control

1991 ◽  
Vol 113 (2) ◽  
pp. 267-272 ◽  
Author(s):  
J. E. Bobrow ◽  
F. Jabbari
Keyword(s):  
Position Control ◽  
Low Cost ◽  
Equations Of Motion ◽  
Pneumatic Actuator ◽  
Unit Weight ◽  
Force Output ◽  
Nonlinear Characteristics ◽  
Pneumatic Actuators ◽  
Highly Nonlinear ◽  
High Bandwidth

In this paper an implementation of an adaptive control law for a pneumatic actuator is presented. Pneumatic actuators are of particular interest for robotic applications because of their large force output per unit weight, and their low cost. Stabilization of a pneumatic actuator is difficult if a high bandwidth closed-loop system is desired. This is because of the compressibility of air, and of the nonlinear characteristics of air flowing through a variable area orifice. Further complications arise from the geometry of the mechanism because the equations of motion are highly nonlinear. The order of the dominant dynamics is shown to vary with the position of the mechanicsm.

scholarly journals DESIGN, MANUFACTURING AND PROBLEM ANALYSIS OF AN ENTIRELY FDM 3D PRINTED LINEAR PNEUMATIC ACTUATOR

2020 ◽  
pp. 98-105
Author(s):  
Martin Varga ◽  
Filip Filakovský
Keyword(s):  
3D Printing ◽  
Low Cost ◽  
Pneumatic Actuator ◽  
Problem Analysis ◽  
Pneumatic Actuators ◽  
Manufacturing Plants ◽  
Custom Made ◽  
Machine Shops ◽  
3D Printed ◽  
Linear Actuators

Urgency of the research. Currently, manufacturing of pneumatic components is reserved only to well-equipped manufacturing plants and machine shops. The ability to reliably manufacture pneumatic components on a FDM 3D printer would enable the creation of low-cost custom-made pneumatic actuators with novel properties. This, in turn, could increase the speed and lower the cost of development of prototypes that use pressure air as their power source. Target setting. Today cost-effective 3D printers can be found both in manufacturing plants and small machine shops andhobbyist workshops. Hawing the possibility to make reliable pneumatic components like pneumatic actuators on such machines could be beneficial and lead to opening new applications for them. Actual scientific researches and issues analysis. Currently most research on using additive manufacturing to construct a pneumatic actuator focuses mainly on bellows type actuators. Research on 3d printing of classical pneumatic actuators is scarce and often presents a rough overview of the design process and immediately presenting a functional prototype without focusing and studying the design hurdles thoroughly. Uninvestigated parts of general matters defining. Parts for firm pneumatic actuators manufactured by FDM 3D printing exhibit properties that have detrimental effects on the optimal working of such actuators. The question is on the magnitude of these effects whether these effects can be tolerated and how to design such a firm pneumatic actuator without the need to postprocess all the components. The research objective. The aim of these research was to manufacture an early prototype of full plastic 3d printed not postprocessed linear actuators and make a preliminary analysis of encountered problems therefore pointing the way for further research in this field. The statement of basic materials. The analysis consists of an attempt to manufacture a simple prototype of full plastic 3d printed linear actuators without the use of postprocessing techniques and establishing a baseline for further research. Conclusions. In this paper the design of three iterations of FDM 3D printed pneumatic cylinders are presented. The problems arising from not using any postprocessing on either of the parts and using only 3d printed parts for the construction is also discussed. In the final chapter the design hurdles for the design and manufacturing of such an actuator are presented..

PID Sliding Mode Control of Prolate Flexible Pneumatic Actuators

2016 ◽  
Author(s):  
Jonathon E. Slightam ◽  
Mark L. Nagurka
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Low Cost ◽  
Tracking Error ◽  
Pneumatic Actuators ◽  
Model Based ◽  
Mode Control ◽  
Significant Performance ◽  
Soft Actuators

The inherent compliance, high power-density, and musclelike properties of soft actuators are especially attractive and useful in many applications, including robotics. In comparison to classical/modern control approaches, model-based control techniques, e.g., sliding mode control (SMC), applied to flexible fluidic actuators (FFAs) offer significant performance advantages and are considered to be state-of-the-art. Improvements in position tracking are possible using nonlinear control approaches that offer enhanced performance for common applications such as tracking of sinusoidal trajectories at high frequencies. This paper introduces a SMC approach that increases the tracking capabilities of prolate flexible pneumatic actuators (PF-PAs). A model-based proportional, integral, derivative sliding mode control (PIDSMC) approach designed for position control of PFPAs is proposed. SMC and PIDSMC systems are implemented on low-cost open-source controls hardware and tested for tracking sinusoidal trajectories at frequencies of 0.5 Hz and 1.0 Hz with an amplitude of 8.255 mm and an offset of 12.7 mm. The PIDSMC approach reduced the maximum tracking error by 20.0%, mean error by 18.6%, and root-mean-square error by 10.5% for a 1 Hz sinusoidal trajectory and by 8.7%, 14.7%, and 3.8%, respectively, for a 0.5 Hz sinusoidal trajectory. These reductions in tracking errors demonstrate performance advantages of the PIDSMC over conventional sliding mode position controllers.

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