Title :
An intelligent control for state-dependent nonlinear actuator and its application to pneumatic servo system
Author :
YAMAZAKI, Mikio ; Yasunobu, Seiji
Author_Institution :
Univ. of Tsukuba, Tsukuba
Abstract :
Soft actuators, such as pneumatic actuators, have nonlinear characteristics, which are state-dependant. Therefore, it is difficult to control them using conventional linear controllers. In this paper, an intelligent controller based on predictive fuzzy control using a control rule and a forward model is proposed. This model was designed using the current state and the input-output characteristics of the actuator. The effectiveness of the proposed intelligent controller was confirmed experimentally using a pneumatic servo system.
Keywords :
fuzzy control; intelligent control; nonlinear control systems; pneumatic actuators; pneumatic control equipment; predictive control; servomechanisms; intelligent control; pneumatic actuators; pneumatic servo system; predictive fuzzy control; soft actuators; state-dependent nonlinear; Control systems; Force control; Fuzzy control; Hydraulic actuators; Intelligent actuators; Intelligent control; Muscles; Pneumatic actuators; Predictive models; Servomechanisms; Fuzzy control; Intelligent Control; Pneumatic Muscle; Soft Actuator;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421352