T-S fuzzy model-based tracking control of a one-dimensional manipulator actuated by pneumatic artificial muscles

Control Engineering Practice

Volumn 19, Issue 12, 2011, Pages 1442-1449

  Chang, Ming Kun ^a   Liou, Jeih Jang ^b   Chen, Ming Lun ^a  

^a ST JOHN'S UNIVERSITY   (Taiwan)

^b FO GUANG UNIVERSITY   (Taiwan)

Author keywords

Linear control techniques; Linear matrix inequalities; Lyapunov direct method; Pneumatic artificial muscle; Takagi Sugeno (T S) fuzzy model based controller

Indexed keywords

CLASSICAL CONTROL; CONTROL PERFORMANCE; CONTROLLER GAIN; GAS COMPRESSION; HIGHLY NONLINEAR; LINEAR CONTROLS; LINEAR SUBSYSTEMS; LMI TOOLBOXES; LYAPUNOV DIRECT METHOD; MODEL-BASED CONTROL; MODEL-BASED CONTROLLER; MODEL-BASED TRACKING; NONLINEAR ELASTICITY; PNEUMATIC ARTIFICIAL MUSCLE; STABILITY ANALYSIS; STATE FEEDBACK CONTROLLER; SYSTEMATIC FRAMEWORK; T-S FUZZY; TAKAGI-SUGENO; TIME VARYING; TRACKING PERFORMANCE;

ELASTICITY; LINEAR CONTROL SYSTEMS; LINEAR MATRIX INEQUALITIES; MUSCLE; PNEUMATIC DRIVES; PNEUMATICS; STATE FEEDBACK;

CONTROLLERS;

EID: 80054831206     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.conengprac.2011.08.002     Document Type: Article

References (32)

1. Ahn K.K., Anh H.P.H. Design and implementation of an adaptive recurrent neural networks (ARNN) controller of the pneumatic artificial muscle (PAM) manipulator. Mechatronics 2009, 19:81-828.
2. Ahn K.K., Anh H.P.H. Inverse double NARX fuzzy modeling for system identification. IEEE/ASME Transactions on Mechatronics 2010, 15(1):136-148.
3. Anh H.P.H. Online tuning gain scheduling MIMO neural PID control of the 2-axes pneumatic artificial muscle (PAM) robot arm. Expert Systems with Applications 2010, 37:6547-6560.
4. Balasubramanian, S., Huang, H., & He, J. (2006). Quantification of dynamic property of pneumatic muscle actuator for design of therapeutic robot control. In Proceedings of the 28th IEEE EMBS Annual International Conference (pp. 2734-2737). New York City, USA.
5. Caldwell D.C., Goodwin M. Control of pneumatic muscle actuator. IEEE Control System Magazine 1995, 40-48.
6. Chang M.K. An adaptive self-organizing fuzzy sliding mode controller for a 2-DOF rehabilitation robot actuated by pneumatic muscle actuators. Control Engineering Practice 2010, 18:13-22.
7. Chen C.L., Chen P.C., Chen C.K. Analysis and design of fuzzy control system. Fuzzy Sets and Systems 1993, 57:125-140.
8. Chou C.P., Hannaford B. Measurement and modeling of Mckibben pneumatic artificial muscles. IEEE Transactions on Robotics and Automation 1996, 12(1):90-102.
9. Han Z.X., Feng G., Walcott B.L., Ma J. Dynamic output feedback controller design for fuzzy system. IEEE Transactions System, Man, and Cybernetics B 2000, 30:204-210.
10. Huang S.J., Lin W.C. Adaptive fuzzy controller with sliding surface for vehicle suspension control. IEEE Transactions on Fuzzy Systems 2003, 11(4):550-559.
11. Joh J., Chen Y.H., Langari R. On the stability issues of linear Takagi-Sugeno fuzzy models. IEEE Transactions Fuzzy System 1998, 6:402-410.
12. Lam H.K. Stability analysis of T-S fuzzy control systems using parameter-dependent Lyapunov function. IET Control Theory and Applications 2008, 3(6):750-762.
13. Lilly J.H. Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations. IEEE Transactions on Neural System and Rehabilitation Engineering 2003, 1:333-339.
14. Lilly J.H., Quesada P.M. A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups. IEEE Transactions on Neural Systems and Rehabilitation Engineering 2004, 12:349-358.
15. Lilly J.H., Yang L. Sliding mode tracking for pneumatic muscle actuators in opposing pair configuration. IEEE Transactions on Control Systems Technology 2005, 4:550-557.
16. Lin J., Lian R.J. Self-organizing fuzzy controller for injection molding machines. Journal of Process Control 2010, 20:585-595.
17. Mamdani E.H. Applications of fuzzy algorithms for control of a simple dynamic plant. Proceedings of the IEE 1974, 121(12):1585-1588.
18. Noritsugu T., Tanaka T. Application of rubber artificial muscle manipulator as a rehabilitation robot. IEEE/ASME Transactions on Mechatronics 1997, 2:259-267.
19. Park Y.M., Moon U.C., Lee K.Y. A self-organizing fuzzy logic controller for dynamic system using a fuzzy auto-regressive moving average(FARMA) model. IEEE Transactions on Fuzzy Systems 1995, 3(1):775-782.
20. Procyk T.J., Mamdani E.H. A linguistic self-organizing process controller. Automatica 1979, 15(1):15-30.
21. Pujana-Arrese A., Mendizabal A., Arenas J., Prestamero R., Landaluze J. Modelling in Modelica and position control of a 1-DoF set-up powered by pneumatic muscles. Mechatronics 2010, 20:535-552.
22. Reynold D.B., Phillips D.W., Bandry G. Modeling the dynamic characteristics of pneumatic muscle. Annals of Biomedical Engineering 2003, 31:310-317.
23. Seddiki L., Guelton K., Zaytoon J. Concept and Takagi-Sugeno descriptor tracking controller design of a closed muscular chain lower-limb rehabilitation device. IET Control Theory and Applications 2009, 4(8):1407-1420.
24. Shen X. Nonlinear model-based control of pneumatic artificial muscle servo systems. Control Engineering Practice 2010, 18:311-317.
25. Takagi T., Sugeno M. Fuzzy identification of systems and its applications to modeling and control. IEEE Transactions Systems, Man and Cybernetics 1985, 15:116-132.
26. Tanaka K., Ikeda T., Wang H.O. Fuzzy regulators and fuzzy observer: Relaxed stability conditions and LMI-based designs. IEEE Transactions Fuzzy System 2000, 6:250-265.
27. Tanaka K., Sugeno M. Stability analysis and design of fuzzy control systems. Fuzzy Sets and Systems 1992, 45(1992):136-156.
28. Tondu B., Lopez P. McKibben artificial muscle robot actuators. IEEE Control Systems Magazine 2000, 20:15-38.
29. Tseng C.S., Chen B.S., Uang H.J. Fuzzy tracking control design for nonlinear dynamic systems via T-S Fuzzy Model. IEEE Transactions on Fuzzy Systems 2001, 9(3):382-392.
30. Wang H.O., Tanaka K., Griffin M.F. An approach to fuzzy control of nonlinear systems: stability and the design issues. IEEE Transactions on Fuzzy Systems 1996, 4(1):14-23.
31. Xie S.Q., Jamwal P.K. An iterative fuzzy controller for pneumatic muscle driven rehabilitation robot. Expert Systems with Applications 2011, 30:8128-8137.
32. Zadeh L.A. Fuzzy sets. Information and Control 1965, 8(3):338-353.