Pneumatic Bellows Actuated Parallel Platform Control with Adjustable Stiffness Using a Hybrid Feed-Forward and Variable Gain Integral Controller

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F23%3A10253445" target="_blank" >RIV/61989100:27230/23:10253445 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.mdpi.com/2076-3417/13/24/13261" target="_blank" >https://www.mdpi.com/2076-3417/13/24/13261</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/app132413261" target="_blank" >10.3390/app132413261</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Pneumatic Bellows Actuated Parallel Platform Control with Adjustable Stiffness Using a Hybrid Feed-Forward and Variable Gain Integral Controller

Popis výsledku v původním jazyce

Redundant cascade manipulators actuated by pneumatic bellows actuators are passively compliant, rugged and dexterous, making them exceptionally well suited for application in agriculture. Unfortunately, the bellows are notoriously difficult to precisely position. This paper presents a novel control algorithm for the control of a parallel platform actuated by pneumatic bellows, which serves as a module of a cascade manipulator. The algorithm combines a feed-forward controller and a variable-gain I-controller. The mathematical model of the module, which serves as the feed-forward controller, was created by applying two simple regression steps on experimentally acquired data. The gain of the I-controller is linearly dependent on the total reference error, thereby addressing the prevalent problem of &quot;a slow response or excessive overshoot&quot;, which, in the described case, the simple combination of a feed-forward and constant-gain I-controller tends to suffer from. The proposed algorithm was experimentally verified and its performance was compared with two controllers: an ANFIS controller and a constant gain PID controller. The proposed controller has outperformed the PID controller in the three calculated criteria: IAE, ISE and ITAE by more than 40%. The controller was also tested under dynamic loading conditions, showing promising results.

Název v anglickém jazyce

Pneumatic Bellows Actuated Parallel Platform Control with Adjustable Stiffness Using a Hybrid Feed-Forward and Variable Gain Integral Controller

Popis výsledku anglicky

Redundant cascade manipulators actuated by pneumatic bellows actuators are passively compliant, rugged and dexterous, making them exceptionally well suited for application in agriculture. Unfortunately, the bellows are notoriously difficult to precisely position. This paper presents a novel control algorithm for the control of a parallel platform actuated by pneumatic bellows, which serves as a module of a cascade manipulator. The algorithm combines a feed-forward controller and a variable-gain I-controller. The mathematical model of the module, which serves as the feed-forward controller, was created by applying two simple regression steps on experimentally acquired data. The gain of the I-controller is linearly dependent on the total reference error, thereby addressing the prevalent problem of &quot;a slow response or excessive overshoot&quot;, which, in the described case, the simple combination of a feed-forward and constant-gain I-controller tends to suffer from. The proposed algorithm was experimentally verified and its performance was compared with two controllers: an ANFIS controller and a constant gain PID controller. The proposed controller has outperformed the PID controller in the three calculated criteria: IAE, ISE and ITAE by more than 40%. The controller was also tested under dynamic loading conditions, showing promising results.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

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OECD FORD obor

20302 - Applied mechanics

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

2076-3417

Svazek periodika

2023

Číslo periodika v rámci svazku

13

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

23

Strana od-do

13261-13284

Kód UT WoS článku

001131454900001

EID výsledku v databázi Scopus

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