Controlling of pneumatic muscle actuator systems by Parallel Structure of Neural Network and Proportional Controllers (PNNP)

Al-Ibadi, A ORCID: https://orcid.org/0000-0002-0779-8217, Nefti-Meziani, S and Davis, ST ORCID: https://orcid.org/0000-0002-4365-5619 2020, 'Controlling of pneumatic muscle actuator systems by Parallel Structure of Neural Network and Proportional Controllers (PNNP)' , Frontiers in Robotics and AI, section Soft Robotics, 7 , p. 115.

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Abstract

This article proposed a novel controller structure to track the nonlinear 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 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 applied to control a human-robot shared control system. The results show the efficiency of the proposed controller structure.

Item Type:	Article
Schools:	Schools > School of Computing, Science and Engineering > Salford Innovation Research Centre
Journal or Publication Title:	Frontiers in Robotics and AI, section Soft Robotics
Publisher:	Frontiers
ISSN:	2296-9144
Related URLs:	Publication
Depositing User:	USIR Admin
Date Deposited:	28 Jul 2020 10:18
Last Modified:	16 Feb 2022 05:11
URI:	https://usir.salford.ac.uk/id/eprint/57729

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