TY - JOUR
T1 - Pneumatic Artificial Muscle-Driven Control Loading System (iFUZZY2017)
AU - Chen, Chun Ta
AU - Wu, Yu Cheng
AU - Chen, Fu Wen
AU - Chen, Mei Yung
N1 - Funding Information:
Research supported by MOST Foundation.
Funding Information:
Acknowledgements The authors would like to thank the Ministry of Science and Technology of the Republic of China, Taiwan, for financially supporting this research under Contract Nos. MOST 103-2221-E-003 -011 and 104-2221-E-003-028.
PY - 2018/8/1
Y1 - 2018/8/1
N2 - 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.
AB - 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.
KW - Adaptive fuzzy sliding mode control
KW - Control loading system
KW - Pneumatic artificial muscle
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U2 - 10.1007/s40815-018-0507-2
DO - 10.1007/s40815-018-0507-2
M3 - Article
AN - SCOPUS:85050771946
VL - 20
SP - 1779
EP - 1789
JO - International Journal of Fuzzy Systems
JF - International Journal of Fuzzy Systems
SN - 1562-2479
IS - 6
ER -