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 - Publisher Copyright:
© 2018, Taiwan Fuzzy Systems Association and Springer-Verlag GmbH Germany, part of Springer Nature.
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
UR - http://www.scopus.com/inward/record.url?scp=85050771946&partnerID=8YFLogxK
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U2 - 10.1007/s40815-018-0507-2
DO - 10.1007/s40815-018-0507-2
M3 - Article
AN - SCOPUS:85050771946
SN - 1562-2479
VL - 20
SP - 1779
EP - 1789
JO - International Journal of Fuzzy Systems
JF - International Journal of Fuzzy Systems
IS - 6
ER -