Switching model predictive control for thin McKibben muscle servo actuator
Dynamic characteristics and control of thin McKibben muscle (TMM) have not yet been fully investigated, especially on the translational antagonistic pair system. Therefore, the objective of this study is to propose a Switching Model Predictive Control (SMPC) based on a Piecewise Affine (PWA) system...
Saved in:
Main Authors: | , , , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
MDPI
2022
|
Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/100585/1/AhmadAthif2022_SwitchingModelPredictiveControlforThinMcKibben.pdf http://eprints.utm.my/id/eprint/100585/ http://dx.doi.org/10.3390/act11080233 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Institution: | Universiti Teknologi Malaysia |
Language: | English |
id |
my.utm.100585 |
---|---|
record_format |
eprints |
spelling |
my.utm.1005852023-04-17T07:13:18Z http://eprints.utm.my/id/eprint/100585/ Switching model predictive control for thin McKibben muscle servo actuator Mhd. Yusoff, Mohd. Akmal Mohd. Faudzi, Ahmad Athif Basri, Mohd. Shukry Hassan Rahmat, Mohd. Fuaad Shapiai, Mohd. Ibrahim Mohamaddan, Shahrol T Technology (General) Dynamic characteristics and control of thin McKibben muscle (TMM) have not yet been fully investigated, especially on the translational antagonistic pair system. Therefore, the objective of this study is to propose a Switching Model Predictive Control (SMPC) based on a Piecewise Affine (PWA) system model to control a translational antagonistic-pair TMM servo actuator. A novel configuration enables the servo actuator to achieve a position control of 40 mm within a small footprint. The result shows that the feedback system gives minimal steady-state errors when tracking staircase and setpoint references ranging from 0 to 3.5 cm. The controller also produces better transient and steady-state responses than our previously developed Gain-scheduled Proportional–Integral–Derivative (GSPID) controller. The evidence from this study suggests that a predictive control for a TMM servo actuator is feasible. MDPI 2022 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/100585/1/AhmadAthif2022_SwitchingModelPredictiveControlforThinMcKibben.pdf Mhd. Yusoff, Mohd. Akmal and Mohd. Faudzi, Ahmad Athif and Basri, Mohd. Shukry Hassan and Rahmat, Mohd. Fuaad and Shapiai, Mohd. Ibrahim and Mohamaddan, Shahrol (2022) Switching model predictive control for thin McKibben muscle servo actuator. Actuators, 11 (8). pp. 1-16. ISSN 2076-0825 http://dx.doi.org/10.3390/act11080233 DOI : 10.3390/act11080233 |
institution |
Universiti Teknologi Malaysia |
building |
UTM Library |
collection |
Institutional Repository |
continent |
Asia |
country |
Malaysia |
content_provider |
Universiti Teknologi Malaysia |
content_source |
UTM Institutional Repository |
url_provider |
http://eprints.utm.my/ |
language |
English |
topic |
T Technology (General) |
spellingShingle |
T Technology (General) Mhd. Yusoff, Mohd. Akmal Mohd. Faudzi, Ahmad Athif Basri, Mohd. Shukry Hassan Rahmat, Mohd. Fuaad Shapiai, Mohd. Ibrahim Mohamaddan, Shahrol Switching model predictive control for thin McKibben muscle servo actuator |
description |
Dynamic characteristics and control of thin McKibben muscle (TMM) have not yet been fully investigated, especially on the translational antagonistic pair system. Therefore, the objective of this study is to propose a Switching Model Predictive Control (SMPC) based on a Piecewise Affine (PWA) system model to control a translational antagonistic-pair TMM servo actuator. A novel configuration enables the servo actuator to achieve a position control of 40 mm within a small footprint. The result shows that the feedback system gives minimal steady-state errors when tracking staircase and setpoint references ranging from 0 to 3.5 cm. The controller also produces better transient and steady-state responses than our previously developed Gain-scheduled Proportional–Integral–Derivative (GSPID) controller. The evidence from this study suggests that a predictive control for a TMM servo actuator is feasible. |
format |
Article |
author |
Mhd. Yusoff, Mohd. Akmal Mohd. Faudzi, Ahmad Athif Basri, Mohd. Shukry Hassan Rahmat, Mohd. Fuaad Shapiai, Mohd. Ibrahim Mohamaddan, Shahrol |
author_facet |
Mhd. Yusoff, Mohd. Akmal Mohd. Faudzi, Ahmad Athif Basri, Mohd. Shukry Hassan Rahmat, Mohd. Fuaad Shapiai, Mohd. Ibrahim Mohamaddan, Shahrol |
author_sort |
Mhd. Yusoff, Mohd. Akmal |
title |
Switching model predictive control for thin McKibben muscle servo actuator |
title_short |
Switching model predictive control for thin McKibben muscle servo actuator |
title_full |
Switching model predictive control for thin McKibben muscle servo actuator |
title_fullStr |
Switching model predictive control for thin McKibben muscle servo actuator |
title_full_unstemmed |
Switching model predictive control for thin McKibben muscle servo actuator |
title_sort |
switching model predictive control for thin mckibben muscle servo actuator |
publisher |
MDPI |
publishDate |
2022 |
url |
http://eprints.utm.my/id/eprint/100585/1/AhmadAthif2022_SwitchingModelPredictiveControlforThinMcKibben.pdf http://eprints.utm.my/id/eprint/100585/ http://dx.doi.org/10.3390/act11080233 |
_version_ |
1765296674406662144 |