TY - JOUR
T1 - Switching Model Predictive Control for Thin McKibben Muscle Servo Actuator
AU - Mhd Yusoff, Mohd Akmal
AU - Mohd Faudzi, Ahmad Athif
AU - Hassan Basri, Mohd Shukry
AU - Rahmat, Mohd Fuaad
AU - Shapiai, Mohd Ibrahim
AU - Mohamaddan, Shahrol
N1 - Funding Information:
The authors would like to acknowledge the sponsorship provided by Ministry of Higher Education Malaysia (MOHE) through support under Fundamental Research Grant Scheme (FRGS/1/2019/TK04/UTM/02/41). We also would like to express appreciation to Universiti Teknologi Malaysia (UTM), vote no. (5F137), and Engineering Research Centre, MARDI for facilities support and all the A2Lab UTM members for their direct or indirect support in making this publication possible.
Publisher Copyright:
© 2022 by the authors.
PY - 2022/8
Y1 - 2022/8
N2 - 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.
AB - 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.
KW - nonlinear control system
KW - pneumatic artificial muscle
KW - pneumatic muscle actuator
KW - predictive control
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U2 - 10.3390/act11080233
DO - 10.3390/act11080233
M3 - Article
AN - SCOPUS:85137327333
SN - 2076-0825
VL - 11
JO - Actuators
JF - Actuators
IS - 8
M1 - 233
ER -