Robust disturbance observer-based adaptive fuzzy controller for pneumatic muscle actuators

Prashant K. Jamwal, Sheng Quan Xie, Sean Quigley

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Variants of Fuzzy logic controllers (FLC) have been widely used to control the systems characterized by uncertain and ambiguous parameters. Control objectives for such systems become more challenging when they are subjected to uncertain environments. Human-robot interaction is such phenomenon wherein robot control difficulties are further augmented due to human intervention. State of the art of research in FLC has been limited in establishing a trade-off between accuracy and interpretability, since achieving both these performance measures simultaneously is difficult. In the present research, an adaptive FLC has been designed in order to achieve better accuracy and higher interpretability. Supported by another instance of FLC as disturbance observer, the proposed controller has adaptive mechanism specifically designed to alter its parameters. The adaptive FLC has been implemented to control actuation of a pneumatic muscle actuator (PMA). Experimental results show excellent trajectory tracking performance of the PMA in the presence of varying environment.

Original languageEnglish
Title of host publicationASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Pages795-804
Number of pages10
EditionPARTS A AND B
DOIs
Publication statusPublished - Dec 1 2011
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
Duration: Aug 28 2011Aug 31 2011

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume3

Other

OtherASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
CountryUnited States
CityWashington, DC
Period8/28/118/31/11

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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