Force control using predictive functional control (PFC) algorithm for two chambers soft actuator

The current trend in the world of automation and robotics heavily applies metal structure type of the actuators which are heavy, rigid, difficult and expensive to develop. Other areas of applications like medical, agriculture, biological and welfare requires less rigid and safer robots. Thus, a biol...

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Main Author:	Dankadai, Najib Kabir
Format:	Thesis
Language:	English
Published:	2014
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/48934/25/NajibKabirDankadaiMFKE2014.pdf
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id	my-utm-ep.48934
record_format	uketd_dc
spelling	my-utm-ep.489342020-07-08T02:48:26Z Force control using predictive functional control (PFC) algorithm for two chambers soft actuator 2014-06 Dankadai, Najib Kabir TK Electrical engineering. Electronics Nuclear engineering The current trend in the world of automation and robotics heavily applies metal structure type of the actuators which are heavy, rigid, difficult and expensive to develop. Other areas of applications like medical, agriculture, biological and welfare requires less rigid and safer robots. Thus, a biologically inspired robot is required to meet this certain criteria. This lead to the recent attraction in the study and development of Pneumatic Soft Actuator (PSA) because it has more advantages over hard actuators to suit the applications mentioned above due to its simple structure, low cost, high efficiency, high compliance, high power to weight ratio and ensures safe and more natural way of interaction. Despite the advantages of pneumatic soft actuator it has nonlinearity and hysteresis, which makes them difficult to model and control. The main objective of this study was to obtain mathematical model and control the force of a two chamber pneumatic soft actuator. Obtaining nonlinear mathematical model accurately to be used in controller design needs to determine all physical parameters of the real system which is very expensive and time consuming, to simplifying this procedure, model of system was analysed and obtained using system identification toolbox in MATLAB software. Input and output data was acquired from an experimental setup which was used to obtain a transfer function force model of the system. The best model was accepted based on the best fit criterion through SI toolbox. Predictive Functional Controller (PFC) was designed and simulated for the model via MATLAB/Simulink. The results showed that PFC controller provides better output than a conventional PID controller when tested using several references. PFC controller exhibits faster response to the system with desired transient error. The study represented in this project can be further broaden by taken position control into account and validation of the simulated control can be done on the experimental setup. 2014-06 Thesis http://eprints.utm.my/id/eprint/48934/ http://eprints.utm.my/id/eprint/48934/25/NajibKabirDankadaiMFKE2014.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:85100 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Dankadai, Najib Kabir Force control using predictive functional control (PFC) algorithm for two chambers soft actuator
description	The current trend in the world of automation and robotics heavily applies metal structure type of the actuators which are heavy, rigid, difficult and expensive to develop. Other areas of applications like medical, agriculture, biological and welfare requires less rigid and safer robots. Thus, a biologically inspired robot is required to meet this certain criteria. This lead to the recent attraction in the study and development of Pneumatic Soft Actuator (PSA) because it has more advantages over hard actuators to suit the applications mentioned above due to its simple structure, low cost, high efficiency, high compliance, high power to weight ratio and ensures safe and more natural way of interaction. Despite the advantages of pneumatic soft actuator it has nonlinearity and hysteresis, which makes them difficult to model and control. The main objective of this study was to obtain mathematical model and control the force of a two chamber pneumatic soft actuator. Obtaining nonlinear mathematical model accurately to be used in controller design needs to determine all physical parameters of the real system which is very expensive and time consuming, to simplifying this procedure, model of system was analysed and obtained using system identification toolbox in MATLAB software. Input and output data was acquired from an experimental setup which was used to obtain a transfer function force model of the system. The best model was accepted based on the best fit criterion through SI toolbox. Predictive Functional Controller (PFC) was designed and simulated for the model via MATLAB/Simulink. The results showed that PFC controller provides better output than a conventional PID controller when tested using several references. PFC controller exhibits faster response to the system with desired transient error. The study represented in this project can be further broaden by taken position control into account and validation of the simulated control can be done on the experimental setup.
format	Thesis
qualification_level	Master's degree
author	Dankadai, Najib Kabir
author_facet	Dankadai, Najib Kabir
author_sort	Dankadai, Najib Kabir
title	Force control using predictive functional control (PFC) algorithm for two chambers soft actuator
title_short	Force control using predictive functional control (PFC) algorithm for two chambers soft actuator
title_full	Force control using predictive functional control (PFC) algorithm for two chambers soft actuator
title_fullStr	Force control using predictive functional control (PFC) algorithm for two chambers soft actuator
title_full_unstemmed	Force control using predictive functional control (PFC) algorithm for two chambers soft actuator
title_sort	force control using predictive functional control (pfc) algorithm for two chambers soft actuator
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2014
url	http://eprints.utm.my/id/eprint/48934/25/NajibKabirDankadaiMFKE2014.pdf
_version_	1747817506302590976

Force control using predictive functional control (PFC) algorithm for two chambers soft actuator

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