Improvement of Control Performance of Pneumatic Artificial Muscle Manipulator using Intelligent Switching Control

Ahn K.K.; Thanh T.D.C.; Yang S.Y.

doi:10.11499/sicep.2004.0_4_3

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_4_3

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Improvement of Control Performance of Pneumatic Artificial Muscle Manipulator using Intelligent Switching Control

*Ahn K.K., Thanh T.D.C., Yang S.Y.

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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 4

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Abstract

The advantages of pneumatic systems have led to the development of Pneumatic Artificial Muscle (PAM) Manipulators. However, some limitations still exist, such as deterioration of the performance of transient response due to the change the external inertia load. To overcome this problem, switching algorithm of control parameter using LVQNN is newly proposed. The effectiveness of the proposed control algorithms is demonstrated through experiments with different external inertia loads.

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