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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.19 No.1
- 발행연도
- 2005.1
- 수록면
- 106 - 115 (10page)
이용수
초록· 키워드
오류제보하기
A novel actuator system which has achieved increased popularity to provide these advantages such as high strength and power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available, cheap power source, inherent safety and mobility assistance to humans performing tasks has been the utilization of the pneumatic artificial muscle (PAM) manipulator, in recent times. However, the complex nonlinear dynamics of the PAM manipulator makes it a challenging and appealing system for modeling and control design. The problems with the time variance, compliance, high hysteresis and nonlinearity of pneumatic systems have made it difficult to realize precise position control with high speed. In order to realize satisfactory control performance, the effect of nonlinear factors contained in the PAM manipulator must be considered. The purpose of this study is to improve the control performance of the PAM manipulator using a nonlinear PID controller. Superb mixture of conventional PID controller and the neural network, which has powerful capability of learning, adaptation and tackling nonlinearity, brings us a novel nonlinear PID controller using neural network. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through the experiments, which suggests its superior performance and disturbance rejection.
목차
Abstract
1. Introudction
2. Experimental Setup
3. Control System
4. Experimental Results
5. Conclusions
Acknowledgment
References
참고문헌 (22)
참고문헌 신청
Ahn, K.K., Lee, B.R., Yang, S.Y., 2003, "Design and Experimental Evaluation of a Robust Force Controller for a 6-link Electro-Hydraulic Manipulator via H Infinity Control Theory," in KSME, Int., Jour., Vol. 17, No.7, pp.999~1010.
Ahn, K.K., Tu, D.C.T., 2004, "Improvement of the Control Performance of Pneumatic Artificial Manipulators using an Intelligent Switching Contorl Method," in KSME, Int., Jour., Vol.18, No.8, pp.1388~1400.
Astrom, K.J., Hang, C.C., Persson, P. and Ho, W.K., 1992, "Toward Intelligent PID Control," in Int., Conf., Automatic, Vol.28, pp.1~9.
Balasubramanian, V. and Rattan, K.S., 2003, "Freedforward Contorl of a Non-linear Pneumatic Muscle System using Fuzzy Logic," in IEEE Int., Conf., Fuzzy Systems, Vol.1, pp.272~277.
Bowler, C.J., Caldwell, D.G. and Medrano-Cerda, G.A., 1996, "Pneumatic Muscle Actuators; Musculature for an Anthropomorphic Robot Arm," in Proc. IEE Colloqium on Actuator Technology Current Practice and New Developments, London, pp.8/1~8/5.
Ahn, K.K., Tu, D.C.T., 2004, "Improvement of the Control Performance of Pneumatic Artificial Manipulators using an Intelligent Switching Contorl Method," in KSME, Int., Jour., Vol.18, No.8, pp.1388~1400.
Astrom, K.J., Hang, C.C., Persson, P. and Ho, W.K., 1992, "Toward Intelligent PID Control," in Int., Conf., Automatic, Vol.28, pp.1~9.
Balasubramanian, V. and Rattan, K.S., 2003, "Freedforward Contorl of a Non-linear Pneumatic Muscle System using Fuzzy Logic," in IEEE Int., Conf., Fuzzy Systems, Vol.1, pp.272~277.
Bowler, C.J., Caldwell, D.G. and Medrano-Cerda, G.A., 1996, "Pneumatic Muscle Actuators; Musculature for an Anthropomorphic Robot Arm," in Proc. IEE Colloqium on Actuator Technology Current Practice and New Developments, London, pp.8/1~8/5.
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UCI(KEPA) : I410-ECN-0101-2009-550-014529146