System identification and embedded controller design for pneumatic actuator with stiffness characteristic
This paper presents model and controller design applications to pneumatic actuator embedded system. Two model strategies of position and force are proposed to realize compliance control for stiffness characteristic. Model of the pneumatic actuator system (transfer function) is obtained from system i...
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| Format: | Article |
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Hindawi Publishing
2014
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| _version_ | 1796861339030781952 |
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| author | Osman, Khairuddin Mohd. Faudzi, Ahmad 'Athif Rahmat, M. F. Suzumori, Koichi |
| author_facet | Osman, Khairuddin Mohd. Faudzi, Ahmad 'Athif Rahmat, M. F. Suzumori, Koichi |
| author_sort | Osman, Khairuddin |
| collection | ePrints |
| description | This paper presents model and controller design applications to pneumatic actuator embedded system. Two model strategies of position and force are proposed to realize compliance control for stiffness characteristic. Model of the pneumatic actuator system (transfer function) is obtained from system identification (SI) method. Next, combination of predictive functional control with observer (PFC-O) design is selected as a new control strategy for pneumatic system. Performance assessment of the controller is performed in MATLAB and validated through real-time experiments using national instrument (NI) devices and programmable system on chip (PSoC) microcontroller. Result shows that the new controller is adapted to the system and able to successfully control both simulation and real-time experiments. |
| first_indexed | 2024-03-05T19:54:49Z |
| format | Article |
| id | utm.eprints-62800 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T19:54:49Z |
| publishDate | 2014 |
| publisher | Hindawi Publishing |
| record_format | dspace |
| spelling | utm.eprints-628002017-06-17T23:59:53Z http://eprints.utm.my/62800/ System identification and embedded controller design for pneumatic actuator with stiffness characteristic Osman, Khairuddin Mohd. Faudzi, Ahmad 'Athif Rahmat, M. F. Suzumori, Koichi TK Electrical engineering. Electronics Nuclear engineering This paper presents model and controller design applications to pneumatic actuator embedded system. Two model strategies of position and force are proposed to realize compliance control for stiffness characteristic. Model of the pneumatic actuator system (transfer function) is obtained from system identification (SI) method. Next, combination of predictive functional control with observer (PFC-O) design is selected as a new control strategy for pneumatic system. Performance assessment of the controller is performed in MATLAB and validated through real-time experiments using national instrument (NI) devices and programmable system on chip (PSoC) microcontroller. Result shows that the new controller is adapted to the system and able to successfully control both simulation and real-time experiments. Hindawi Publishing 2014 Article PeerReviewed Osman, Khairuddin and Mohd. Faudzi, Ahmad 'Athif and Rahmat, M. F. and Suzumori, Koichi (2014) System identification and embedded controller design for pneumatic actuator with stiffness characteristic. Mathematical Problems in Engineering . ISSN 1024-123X http://dx.doi.org/10.1155/2014/271741 DOI:10.1155/2014/271741 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Osman, Khairuddin Mohd. Faudzi, Ahmad 'Athif Rahmat, M. F. Suzumori, Koichi System identification and embedded controller design for pneumatic actuator with stiffness characteristic |
| title | System identification and embedded controller design for pneumatic actuator with stiffness characteristic |
| title_full | System identification and embedded controller design for pneumatic actuator with stiffness characteristic |
| title_fullStr | System identification and embedded controller design for pneumatic actuator with stiffness characteristic |
| title_full_unstemmed | System identification and embedded controller design for pneumatic actuator with stiffness characteristic |
| title_short | System identification and embedded controller design for pneumatic actuator with stiffness characteristic |
| title_sort | system identification and embedded controller design for pneumatic actuator with stiffness characteristic |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
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