Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2015, Article ID 810231, 16 pages
http://dx.doi.org/10.1155/2015/810231
Research Article

Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

Received 1 September 2014; Revised 19 March 2015; Accepted 19 March 2015

Academic Editor: Seungik Baek

Copyright © 2015 Jie Zhao 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. L. Kopecny, “Producing of tactile feedback via pneumatic muscles,” in Proceedings of the IEEE International Conference on Industrial Technology (ICIT '03), pp. 685–687, Maribor, Slovenia, December 2003. View at Scopus
  2. E. V. Mangan, D. A. Kingsley, R. D. Quinn, and H. J. Chiel, “Development of a peristaltic endoscope,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02), vol. 1, pp. 347–352, Washington, DC, USA, May 2002. View at Publisher · View at Google Scholar · View at Scopus
  3. E. V. Mangan, D. A. Kingsley, R. D. Quinn, G. P. Sutton, J. M. Mansour, and H. J. Chiel, “A biologically inspired gripping device,” Industrial Robot, vol. 32, no. 1, pp. 49–54, 2005. View at Publisher · View at Google Scholar · View at Scopus
  4. T. Takuma, S. Nakajima, K. Hosoda, and M. Asada, “Design of self-contained biped walker with pneumatic actuators,” in Proceedings of the SICE Annual Conference, vol. 3, pp. 2520–2524, Sapporo, Japan, August 2004. View at Scopus
  5. R. Vaidyanathan, H. J. Chiel, and R. D. Quinn, “Hydrostatic robot for marine applications,” Robotics and Autonomous Systems, vol. 30, no. 1, pp. 103–113, 2000. View at Publisher · View at Google Scholar · View at Scopus
  6. R. T. Pack, J. L. Christopher Jr., and K. Kawamura, “A rubbertuator-based structure-climbing inspection robot,” in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3, pp. 1869–1874, Albuquerque, NM, USA, April 1997. View at Publisher · View at Google Scholar
  7. R. W. Colbrunn, Design and control of a robotic leg with braided pneumatic actuators [Master thesis], Department of Mechanical and Aerospace Engineering, Case Western University, Cleveland, Ohio, USA, 2000.
  8. V. L. Nickel, J. Perry, and A. L. Garrett, “Development of useful function in the severely paralyzed hand,” The Journal of Bone & Joint Surgery—American Volume, vol. 45, no. 5, pp. 933–952, 1963. View at Google Scholar · View at Scopus
  9. H. Schulte, “The characteristics of the McKibben artificial muscle,” in The Application of External Power in Prosthetics and Orthotics, pp. 94–115, National Academies, Lake Arrowhead, Calif, USA, 1961. View at Google Scholar
  10. G. K. Klute, J. M. Czerniecki, and B. Hannaford, “McKibben artificial muscles: pneumatic actuators with biomechanical intelligence,” in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 221–226, Atlanta, Ga, USA, September 1999. View at Publisher · View at Google Scholar · View at Scopus
  11. L. Kopecny, “Producing of tactile feedback via pneumatic muscles,” in Proceedings of the IEEE International Conference on Industrial Technology (ICIT '03), vol. 2, pp. 685–687, Maribor, Slovenia, December 2003. View at Publisher · View at Google Scholar
  12. E. V. Mangan, D. A. Kingsley, R. D. Quinn, and H. J. Chiel, “Development of a peristaltic endoscope,” in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, pp. 347–352, Washington, DC, USA, May 2002. View at Scopus
  13. C.-P. Chou and B. Hannaford, “Measurement and modeling of McKibben pneumatic artificial muscles,” IEEE Transactions on Robotics and Automation, vol. 12, no. 1, pp. 90–102, 1996. View at Publisher · View at Google Scholar · View at Scopus
  14. T. Raparelli, F. Durante, and P. B. Zobel, “Numerical modelling and experimental validation of a pneumatic muscle actuator,” Proceedings of the JFPS International Symposium on Fluid Power, vol. 1999, no. 4, pp. 673–678, 1999. View at Publisher · View at Google Scholar
  15. S. Hirai, P. Cusin, H. Tanigawa, T. Masui, S. Konishi, and S. Kawamura, “Qualitative synthesis of deformable cylindrical actuators through constraint topology,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’00), vol. 1, pp. 197–202, Takamatsu, Japan, October-November 2000. View at Publisher · View at Google Scholar
  16. G. Klute, J. Czerniecki, and B. Hannaford, “McKibben artificial muscles: pneumatic actuators with biomechanical intelligence,” in Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 221–226, Atlanta, Ga, USA, September 1999. View at Publisher · View at Google Scholar
  17. D. W. Repperger, C. A. Phillips, D. C. Johnson, R. D. Harmon, and K. Johnson, “A study of pneumatic muscle technology for possible assistance in mobility,” in Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS '97), pp. 1884–1887, Chicago, Ill, USA, November 1997. View at Scopus
  18. D. B. Reynolds, D. W. Repperger, C. A. Phillips, and G. Bandry, “Modeling the dynamic characteristics of pneumatic muscle,” Annals of Biomedical Engineering, vol. 31, no. 3, pp. 310–317, 2003. View at Publisher · View at Google Scholar · View at Scopus
  19. H. F. Schulte, “The characteristics of the McKibben artificial muscle,” in The Application of External Power in Prosthetics and Orthotics, vol. 874, pp. 94–115, National Academy of Sciences, National Research Council, 1961. View at Google Scholar
  20. T. Nakamura, N. Saga, and K. Yaegashi, “Development of a pneumatic artificial muscle based on biomechanical characteristics,” in Proceedings of the IEEE International Conference on Industrial Technology (ICIT '03), pp. 729–734, Maribor, Slovenia, December 2003. View at Scopus
  21. N. Tsagarakis and D. G. Caldwell, “Improved modelling and assessment of pneumatic muscle actuators,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '00), pp. 3641–3646, San Francisco, Calif, USA, April 2000. View at Scopus
  22. 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
  23. A. M. Bertetto and M. Ruggiu, “Characterization and modeling of air muscles,” Mechanics Research Communications, vol. 31, no. 2, pp. 185–194, 2004. View at Publisher · View at Google Scholar · View at Scopus
  24. D. Trivedi, A. Lotfi, and C. D. Rahn, “Geometrically exact models for soft robotic manipulators,” IEEE Transactions on Robotics, vol. 24, no. 4, pp. 773–780, 2008. View at Publisher · View at Google Scholar · View at Scopus
  25. B. Tondu and P. Lopez, “Modeling and control of McKibben artificial muscle robot actuators,” IEEE Control Systems, vol. 20, no. 2, pp. 15–38, 2000. View at Publisher · View at Google Scholar
  26. T. V. Minh, T. Tjahjowidodo, H. Ramon, and H. van Brussel, “Control of a pneumatic artificial muscle (PAM) with model-based hysteresis compensation,” in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '09), pp. 1082–1087, Singapore, July 2009. View at Publisher · View at Google Scholar · View at Scopus
  27. 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
  28. D. G. Caldwell, G. A. Medrano-Cerda, and M. Goodwin, “Control of pneumatic muscle actuators,” IEEE Control Systems Magazine, vol. 15, no. 1, pp. 40–48, 1995. View at Publisher · View at Google Scholar · View at Scopus
  29. D. W. Repperger, C. A. Phillips, and M. Krier, “Controller design involving gain scheduling for a large scale pneumatic muscle actuator,” in Proceedings of the IEEE International Conference on Control Applications, pp. 285–290, August 1999. View at Scopus
  30. S. W. Chan, J. H. Lilly, D. W. Repperger, and J. E. Berlin, “Fuzzy PD+I learning control for a pneumatic muscle,” in Proceedings of the IEEE International Conference on Fuzzy Systems, vol. 1, pp. 278–283, 2003.
  31. P. Carbonell, Z. P. Jiang, and D. W. Repperger, “Nonlinear control of a pneumatic muscle actuator: backstepping vs. sliding-mode,” in Proceedings of the IEEE International Conference on Control Applications (CCA ’01), pp. 167–172, Mexico City, Mexico, September 2001. View at Publisher · View at Google Scholar · View at Scopus
  32. M. van Damme, B. Vanderborght, P. Beyl et al., “Sliding mode control of a ‘soft’ 2-DOF planar pneumatic manipulator,” International Applied Mechanics, vol. 44, no. 10, pp. 1191–1199, 2008. View at Publisher · View at Google Scholar · View at Scopus
  33. H. Aschemann and D. Schindele, “Sliding-mode control of a high-speed linear axis driven by pneumatic muscle actuators,” IEEE Transactions on Industrial Electronics, vol. 55, no. 11, pp. 3855–3864, 2008. View at Publisher · View at Google Scholar · View at Scopus
  34. L. Zhang, J. Xie, and D. Lu, “Adaptive robust control of one-link joint actuated by pneumatic artificial muscles,” in Proceedings of the 1st International Conference on Bioinformatics and Biomedical Engineering (ICBBE '07), pp. 1185–1189, Wuhan, China, July 2007. View at Publisher · View at Google Scholar · View at Scopus
  35. D. Schindele and H. Aschemann, “Nonlinear model predictive control of a high-speed linear axis driven by pneumatic muscles,” in Proceedings of the American Control Conference, pp. 3017–3022, Seattle, Wash, USA, June 2008. View at Publisher · View at Google Scholar · View at Scopus
  36. M. K. Chang and J. C. Wu, “Tracking control of a two DOF arm actuated by pneumatic muscle actuators using adaptive fuzzy sliding mode controller,” in Proceedings of the CACS Automatic Control Conference, St. John's University, Tamsui, Taiwan, November 2006.
  37. L. Udawatta, P. Priyadarshana, and S. Witharana, “Control of pneumatic artificial muscle for bicep configuration using IBC,” in Proceedings of the 3rd International Conference on Information and Automation for Sustainability (ICIAFS ’07), pp. 35–39, Melbourne, Australia, December 2007. View at Publisher · View at Google Scholar
  38. H. J. M. T. S. Adriaens, W. L. de Koning, and R. Banning, “Modeling piezoelectric actuators,” IEEE/ASME Transactions on Mechatronics, vol. 5, no. 4, pp. 331–341, 2000. View at Publisher · View at Google Scholar · View at Scopus
  39. X.-S. Wang, Y.-H. Cheng, and G.-Z. Peng, “Modeling and self-tuning pressure regulator design for pneumatic-pressure-load systems,” Control Engineering Practice, vol. 15, no. 9, pp. 1161–1168, 2007. View at Publisher · View at Google Scholar · View at Scopus