Development Of Control Strategy For Motion Control Of Pneumatic Muscle Actuator

Chan, Chun Yuan (2016) Development Of Control Strategy For Motion Control Of Pneumatic Muscle Actuator. Project Report. UTeM, Melaka, Malaysia . (Submitted)

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Abstract

Over the past decade, pneumatic muscle actuators (PMA) has been in the limelight and receiving much attention not only in the field of industrial application as well as in prominent research area such as robotics and biomedical engineering. The uprising can be accorded to the many advantages that PMA offers such as inherent complaint safety, low-maintenance and powerful. However, PMA has yet to emerge as disruptors in its application field primarily due to the non-linear dynamics. Despite these detriments, PMA possesses pronounced prospective to be exploited especially in the field of rehabilitation robotics. Henceforth, this research was initiated to propose a control framework taking into account the non-linear dynamics where PMA motion is concerned. A modified Proportional, Integral and Derivative (PID) controller was proposed and the effectiveness of the controller in point-to-point (PTP) positioning motion was evaluated experimentally using a single degree of freedom (1-DOF) PMA system. The modified PID was constructed with the driving characteristics of the PMA system. Subsequently, the positioning performance of the modified PID controller was evaluated and compared with a classical PID controller through experimental means. In general, the proposed modified PID is capable of striking a satisfactory performance in PTP positioning with the reduction of the effect concerning the nonlinearities available in the system.

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