Experimental Validation for Pneumatic Artificial Muscles using Fuzzy PID Control

Authors

  • Quy Thinh Dao Hanoi University of Science and Technology https://orcid.org/0000-0001-7615-0361
  • Dinh-Hoang Mai Hanoi University of Science and Technology
  • Dang-Khanh Nguyen Hanoi University of Science and Technology

Keywords:

Pneumatic Artificial Muscles, Rehabilitation Robot, Fuzzy Proportional-Integral-Derivative 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.

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Published

2021-07-15

How to Cite

Dao, Q. T., Mai, D.-H., & Nguyen, D.-K. (2021). Experimental Validation for Pneumatic Artificial Muscles using Fuzzy PID Control. Measurement, Control, and Automation, 2(1). Retrieved from https://mca-journal.org/index.php/mca/article/view/54

Issue

Section

Control Theory and Application

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