Báo Cáo Control pneumatic artificial muscle manipulator with nonlinear pid controller using neural network

ABSTRACT
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A novel actuator system which has achieved increased popularity to provide these advantages such
as high strength and power/weight ratio, low cost, compactness, ease of maintenance, cleanliness,
readily available, cheap power source, inherent safety and mobility assistance to humans performing
tasks has been the utilization of the pneumatic artificial muscle (PAM) manipulator, in recent times.
However, the complex nonlinear dynamics of the PAM manipulator makes it a challenging and
appealing system for modeling and control design. The problems with the time variance, compliance,
high hysteresis and nonlinearity of pneumatic systems have made it difficult to realize precise position
control with high speed. In order to realize satisfactory control performance, the effect of nonlinear
factors contained in the PAM manipulator must be considered. The purpose of this study is to improve
the control performance of the PAM manipulator using a nonlinear PID controller. Superb mixture of
conventional PID controller and the neural network, which has powerful capability of learning,
adaptation and tackling nonlinearity, brings us a novel nonlinear PID controller using neural network.
This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and
disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of
the proposed control algorithm was demonstrated through the experiments.