Pneumatic Artificial Muscle-Driven Control Loading System (iFUZZY2017)

Chun Ta Chen, Yu Cheng Wu, Fu Wen Chen, Mei Yung Chen*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


A control loading system (CLS) provides a force feel about the state of devices. In this paper, the technique for a pneumatic artificial muscle (PAM)-actuated control loading system is developed. The proposed PAM-based control loading system is made with a steel string fixed at one end and the other end connected to a control column, and a force feedback to an operator can be achieved according to the system state. In order to demonstrate the dynamic force feedback characteristics, a second-order mass-spring-damper model is used for the computed force, and the force control is implemented via the position-loop architecture. Moreover, due to the structure and parametric uncertainties of the designed control loading system, the adaptive fuzzy sliding mode controller are employed to improve the fidelity feeling of the force exerted on the control column. Benchmark tests compare the adaptive fuzzy sliding mode controller with other controllers. Results demonstrate the designed PAM-driven control loading system.

Original languageEnglish
Pages (from-to)1779-1789
Number of pages11
JournalInternational Journal of Fuzzy Systems
Issue number6
Publication statusPublished - 2018 Aug 1


  • Adaptive fuzzy sliding mode control
  • Control loading system
  • Pneumatic artificial muscle

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Software
  • Computational Theory and Mathematics
  • Artificial Intelligence


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