Table of Contents Author Guidelines Submit a Manuscript
Abstract and Applied Analysis
Volume 2015, Article ID 906126, 16 pages
http://dx.doi.org/10.1155/2015/906126
Research Article

Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Faculty of Manufacturing Technologies with a Seat in Prešov, Technical University of Košice, Bayerova 1, 080 01 Prešov, Slovakia

Received 16 October 2014; Accepted 22 January 2015

Academic Editor: Mathiyalagan Kalidass

Copyright © 2015 Alexander Hošovský et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. E. Kelasidi, G. Andrikopoulos, G. Nikolakopoulos, and S. Manesis, “A survey on pneumatic muscle actuators modeling,” Journal of Energy and Power Engineering, vol. 6, no. 9, pp. 1442–1452, 2012. View at Google Scholar
  2. S. Davis, N. Tsagarakis, J. Canderle, and D. G. Caldwell, “Enhanced modelling and performance in braided pneumatic muscle actuators,” International Journal of Robotics Research, vol. 22, no. 3-4, pp. 213–227, 2003. View at Publisher · View at Google Scholar · View at Scopus
  3. S. Davis and D. G. Caldwell, “Braid effects on contractile range and friction modeling in pneumatic muscle actuators,” International Journal of Robotics Research, vol. 25, no. 4, pp. 359–369, 2006. View at Publisher · View at Google Scholar · View at Scopus
  4. M. Doumit, A. Fahim, and M. Munro, “Analytical modeling and experimental validation of the braided pneumatic muscle,” IEEE Transactions on Robotics, vol. 25, no. 6, pp. 1282–1291, 2009. View at Publisher · View at Google Scholar · View at Scopus
  5. J. L. Serres, Dynamic Characterization of a Pneumatic Muscle Actuator and Its Application to a Resistive Training Device, Wright State University, Dayton, Ohio, USA, 2009.
  6. T. Kerscher, J. Albiez, J. M. Zöllner, and R. Dillmann, “Evaluation of the dynamic model of fluidic muscles using quick-release,” in Proceedings of the International Conference on Biomedical Robotics and Biomechatronics, pp. 637–642, Pisa, Italy, February 2006. View at Publisher · View at Google Scholar · View at Scopus
  7. K. C. Wickramatunge and T. Leephakpreeda, “Empirical modeling of pneumatic artificial muscle,” in Proceedings of the International Multi Conference of Engineers and Computer Scientists, pp. 1726–1730, Hong Kong, 2009.
  8. K. C. Wickramatunge and T. Leephakpreeda, “Study on mechanical behaviors of pneumatic artificial muscle,” International Journal of Engineering Science, vol. 48, no. 2, pp. 188–198, 2010. View at Publisher · View at Google Scholar · View at Scopus
  9. A. Hildebrandt, O. Sawodny, R. Neumann, and A. Hartmann, “Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuators,” in Proceedings of the American Control Conference, vol. 1, pp. 680–685, IEEE, Portland, Ore, USA, June 2005. View at Publisher · View at Google Scholar · View at Scopus
  10. F. Schreiber, Y. Sklyarenko, G. Runge, and W. Schumacher, “Model-based controller design for antagonistic pairs of fluidic muscles in manipulator motion control,” in Proceedings of the 17th International Conference on Methods and Models in Automation and Robotics (MMAR '12), pp. 499–504, Miedzyzdrojie, Poland, August 2012. View at Publisher · View at Google Scholar · View at Scopus
  11. S. V. Krichel, O. Sawodny, and A. Hildebrandt, “Tracking control of a pneumatic muscle actuator using one servovalve,” in Proceedings of the American Control Conference (ACC '10), pp. 4385–4390, Baltimore, Md, USA, July 2010. View at Scopus
  12. J. Zhong, J. Fan, Y. Zhu, J. Zhao, and W. Zhai, “One nonlinear pid control to improve the control performance of a manipulator actuated by a pneumatic muscle actuator,” Advances in Mechanical Engineering, vol. 2014, Article ID 172782, 19 pages, 2014. View at Publisher · View at Google Scholar · View at Scopus
  13. A. Hošovský and M. Havran, “Dynamic modeling of one degree of freedom pneumatic muscle-based actuator for industrial applications,” Tehnicki Vjesnik, vol. 19, no. 3, pp. 673–681, 2012. View at Google Scholar · View at Scopus
  14. M. Balara and M. Tóthová, “Static and dynamic properties of the pneumatic actuator with artificial muscles,” in Proceedings of the IEEE 10th Jubilee International Symposium on Intelligent Systems and Informatics (SISY '12), pp. 577–581, Subotica, Serbia, September 2012. View at Publisher · View at Google Scholar · View at Scopus
  15. M. Tóthová, J. Piteľ, and J. Boržíková, “Operating modes of pneumatic artificial muscle actuator,” Applied Mechanics and Materials, vol. 308, pp. 39–44, 2013. View at Publisher · View at Google Scholar · View at Scopus
  16. A. Hošovský, J. N. Marcinčin, J. Piteľ, J. Boržíková, and K. Židek, “Model-based evolution of a fast hybrid fuzzy adaptive controller for a pneumatic muscle actuator,” International Journal of Advanced Robotic Systems, vol. 9, no. 56, pp. 1–11, 2012. View at Publisher · View at Google Scholar · View at Scopus
  17. A. Macurova and S. Hrehova, “Some properties of the pneumatic artificial muscle expressed by the nonlinear differential equation,” Advanced Materials Research, vol. 658, pp. 376–379, 2013. View at Publisher · View at Google Scholar · View at Scopus
  18. FESTO Fluidic Muscle DMSP/MAS datasheet, 2008, http://www.festo.com/rep/en_corp/assets/pdf/info_501_en.pdf.
  19. P. Beater, Pneumatic Drives: System Design, Modelling and Control, Springer, New York, NY, USA, 2007.
  20. S. H. Zak, Systems and Control, Oxford University Press, New York, NY, USA, 2003.
  21. F. L. Lewis, D. M. Dawson, and C. T. Abdallah, Robot Motion and Control, Marcel Dekker, New York, NY, USA, 2nd edition, 2004.
  22. Hyperphysics—calculation of moments of inertia, http://hyperphysics.phy-astr.gsu.edu/hbase/mi.html.
  23. R. N. Jazar, Theory of Applied Robotics, Springer, New York, NY, USA, 2nd edition, 2010. View at Publisher · View at Google Scholar · View at MathSciNet
  24. S. Samarasinghe, Neural Networks for Applied Sciences and Engineering, Auerbach Publications, Boca Raton, Fla, USA, 1st edition, 2006.
  25. S. Haykin, Neural Networks—A Comprehensive Foundation, Pearson Prentice Hall, Delhi, India, 2nd edition, 2005.
  26. J.-S. R. Jang, C.-T. Sun, and E. Mizutani, Neuro-Fuzzy and Soft Computing—A Computational Approach to Learning and Machine Intelligence, Prentice Hall, Upper Saddle River, NJ, USA, 1st edition, 1997.
  27. B. H. Demuth, M. Beale, and M. T. Hagan, Neural Network Design, PWS Publishing, Boston, Mass, USA, 1st edition, 1996.