Nonlinear PID control to improve the control performance of the pneumatic artificial muscle manipulator using neural network

Journal of Mechanical Science and Technology

Volumn 19, Issue 1, 2005, Pages 106-115

  Ahn, Kyoung Kwan ^a   Diep Cong Thanh, T U ^a  

^a University of Ulsan   (South Korea)

Author keywords

Neural Network; Nonlinear PID Control; Pneumatic Artificial Muscle

Indexed keywords

ACTUATORS; ALGORITHMS; DAMPING; MANIPULATORS; MUSCLE; NEURAL NETWORKS; OPTIMIZATION; PNEUMATIC EQUIPMENT; ROBUSTNESS (CONTROL SYSTEMS); THREE TERM CONTROL SYSTEMS;

CONTROL DESIGNS; INERTIA LOADS; NONLINEAR PID CONTROL; PNEUMATIC ARTIFICIAL MUSCLES (PAM);

NONLINEAR CONTROL SYSTEMS;

EID: 17044437082     PISSN: 1738494X     EISSN: None     Source Type: Journal    
DOI: 10.1007/BF02916109     Document Type: Article

References (22)

1. Ahn, K. K., Lee, B. R., Yang, S.Y., 2003, "Design and Experimental Evaluation of a Robust Force Controller for a 6-link Electro-Hydraulic Manipulator via H Infinity Control Theory," in KSME, Int., Jour., Vol. 17, No. 7, pp. 999-1010.
2. Ahn, K. K., Tu, D. C. T., 2004, "Improvement of the Control Performance of Pneumatic Artificial Manipulators using an Intelligent Switching Control Method," in KSME, Int., Jour., Vol. 18, No. 8, pp. 1388-1400.
3. Astrom, K. J., Hang, C. C., Persson, P. and Ho, W. K., 1992, "Toward Intelligent PID Control," in Int., Conf., Automatic, Vol. 28, pp. 1-9.
4. Balasubramanian, V. and Rattan, K. S., 2003, "Feedforward Control of a Non-linear Pneumatic Muscle System using Fuzzy Logic," in IEEE Int., Conf., Fuzzy Systems, Vol. 1, pp. 272-277.
5. Bowler, C. J., Caldwell, D. G. and Medrano-Cerda, G. A., 1996, "Pneumatic Muscle Actuators ; Musculature for an Anthropomorphic Robot Arm," in Proc. IEE Colloqium on Actuator Technology Current Practice and New Developments, London, pp. 8/1-8/5.
6. Cai, D. and Yamaura, H., 1997, "A VSS Control Method for a Manipulator Driven by an McKibben Artificial Muscle Actuator," Electron, Commun, Japan, Vol. 80, No. 3, pp. 55-63.
7. Caldwell, D. G., Medrano-Cerda, G. A. and Goodwin, M. J., 1993, "Braided Pneumatic Actuator Control of a Multi-jointed Manipulator," in Proc., IEEE Int., Conf., Systems, Man and Cybernetics, Le Touque, France, pp. 423-428.
8. Caldwell, D. G., Medrano-Cerda, G. A. and Goodwin, M. J., 1995, "Control of Pneumatic Muscle Actuators," IEEE Contr., Syst., Mag., Vol. 15, No. 1, pp. 40-48.
9. Caldwell, D. G., Medrano-Cerda, G. A., Goodwin, M. J., 1994, "Characteristics and Adaptive Control of Pneumatic Muscle Actuators for a Robotic Elbow," in Proc., IEEE Int., Conf., Robotics and Automation, Vol.4, pp. 3558-3563.
10. Carbonell, P., Jiang, Z. P. and Repperger, D. W., 2001, "Nonlinear Control of a Pneumatic Muscle Actuator : Backstepping vs. Sliding-mode," in Proc., IEEE Int., Conf., Control Applications, Mexico City, Mexico, pp. 167-172.
11. Folgheraiter, M., Gini, G., Perkowski, M. and Pivtoraiko, M., 2003, "Adaptive Reflex Control for an Artificial Hand," in Proc., SYROCO 2003, Symposium on Robot Control, Holliday Inn, Wroclaw, Poland.
12. Hamerlain, M., 1995, "An Anthropomorphic Robot Arm Driven by Artificial Muscles using a Variable Structure Control," in IEEE/RSJ Int., Conf., Intelligent Robots and Systems, Vol. 1, pp. 550-555.
13. Hesselroth, T., Sarkar, K., Patrick van der Smagt, P. and Schulten, K., 1994, "Neural Network Control of a Pneumatic Robot Arm," IEEE Trans Syst., Man., Cybernetics., Vol.24, No 1, pp. 28-38.
14. Iskarous, M. and Kawamura, K., 1995, "Intelligent Control using a Neuro-fuzzy Network," in Proc., IEEE/RSI Int., Conf., Intelligent Robots and Systems, Vol. 3, pp. 350-355.
15. Kim, J. H. and Choi, K. K., 1987, "Self-turning Discrete PID Controller," in IEEE Tran., Indst., Electron, Vol. 43, pp. 298-300.
16. Medrano-Cerda, G. A., Bowler, C. J. and Caldwell, D. G., 1995, " Adaptive Position Control of Antagonistic Pneumatic Muscle Actuators," in Proc. EEE/RSJ Int., Conf., Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots, Pittsburgh, PA, pp. 378-383.
17. Osuka, K., Kimura, T. and Ono, T., 1990, "H∞ Control of a Certain Nonlinear Actuator," in Proc., IEEE Int., Conf., Decision and Control, Honolulu, Hawai, Vol. 1, pp. 370-371.
18. Patrick van der Smagt, P., Groen, F. and Schulten, K., 1996, "Analysis and Control of a Rubbertuator Arm," Biol Cybernet., Vol. 75, pp. 433-440.
19. Repperger, D. W., Johnson, K. R. and Phillips, C. A., 1999, "Nonlinear Feedback Controller Design of a Pneumatic Muscle Actuator System," in Proc., American Control Conference, Vol. 3, pp. 1525-1529.
20. Tondu, B. and Lopex, P., 2000, "Modeling and Control of Mckbben Artificial Muscle Robot Actuators," IEEE Contr., Syst., Mag., Vol.20, No. 1, pp. 15-38.
21. Vega, P., Prada, C. and Aleixander, V., 1991, "Self-tuning Predictive PID Controller," in IEE Proc., Vol.3, pp. 303-311.
22. Yamada, T., Yabuta, T., 1992, "Neural Network Controller using Autotuning Method for Nonlinear Functions," in IEEE Trans., Neural Networks, Vol. 3, pp. 595-601.