Cargando…
Controlling of Pneumatic Muscle Actuator Systems by Parallel Structure of Neural Network and Proportional Controllers (PNNP)
This article proposed a novel controller structure to track the non-linear behavior of the pneumatic muscle actuator (PMA), such as the elongation for the extensor actuator and bending for the bending PMA. The proposed controller consists of a neural network (NN) controller laid in parallel with the...
Autores principales: | , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2020
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805742/ https://www.ncbi.nlm.nih.gov/pubmed/33501281 http://dx.doi.org/10.3389/frobt.2020.00115 |
Sumario: | This article proposed a novel controller structure to track the non-linear behavior of the pneumatic muscle actuator (PMA), such as the elongation for the extensor actuator and bending for the bending PMA. The proposed controller consists of a neural network (NN) controller laid in parallel with the proportional controller (P). The parallel neural network proportional (PNNP) controllers provide a high level of precision and fast-tracking control system. The PNNP has been applied to control the length of the single extensor PMA and the bending angle of the single self-bending contraction actuator (SBCA) at different load values. For further validation, the PNNP has been applied to control a human–robot shared control system. The results show the efficiency of the proposed controller structure. |
---|