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

fYear

2007

fDate

17-20 Sept. 2007

Firstpage

2194

Lastpage

2199

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;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE, 2007 Annual Conference

Conference_Location

Takamatsu

Print_ISBN

978-4-907764-27-2

Electronic_ISBN

978-4-907764-27-2

Type

conf

DOI

10.1109/SICE.2007.4421352

Filename

4421352