Fuzzy Self-Tuning PID Control of Hydrogen-Driven Pneumatic Artificial Muscle Actuator

doi:10.1016/S1672-6529(13)60228-0

Abstract

Abstract:

In this paper, a fuzzy self-tuning Proportional-Integral-Derivative (PID) control of hydrogen-driven Pneumatic Artificial Muscle (PAM) actuator is presented. With a conventional PID control, non-linear thermodynamics of the hydrogen-driven PAM actuator still highly affects the mechanical actuations itself, causing deviation of desired tasks. The fuzzy self-tuning PID con-troller is systematically developed so as to achieve dynamic performance targets of the hydrogen-driven PAM actuator. The fuzzy rules based on desired characteristics of closed-loop control are designed to finely tune the PID gains of the controller under different operating conditions. The empirical models and properties of the hydrogen-driven PAM actuator are used as a genuine representation of mechanical actuations. A mass-spring-damper system is applied to the hydrogen-driven PAM actuator as a typical mechanical load during actuations. The results of the implementation show that the viability of the proposed method in actuating the hydrogen-driven PAM under mechanical loads is close to desired performance.

Key words: pneumatic muscle, metal hydride, thermoelectric module, PID control, fuzzy tuning

Thanana Nuchkrua, Thananchai Leephakpreeda. Fuzzy Self-Tuning PID Control of Hydrogen-Driven Pneumatic Artificial Muscle Actuator[J].J4, 2013, 10(3): 329-340.

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