Experimental Validation for Pneumatic Artificial Muscles using Fuzzy PID Control

Abstract

Along with the remarkable development of science and technology, recently, robot application in life is quite popular such as robots interacting with humans, rehabilitation robots, etc. Therefore, the pneumatic artificial muscle (PAM) has been studied for application in robot manufacturing. However, the high-performance control system construction is difficult due to the non-linear structure of an artificial muscle. With a classic Proportional-Integral-Derivative (PID) control, the trajectory tracking performance is not high because a fixed set of PID parameters does not solve the enhancing performance problem. Therefore, in this paper, a fuzzy PID control (FPIDC) for a PAM is presented to improve the trajectory tracking performance. The efficiency of the proposed controller has been verified by experiment under different conditions.