A Comparative Study Between Convolution and Optimal Backstepping Controller for Single Arm Pneumatic Artificial Muscles

Abstract

This study was based on the dynamic modeling and parameter characterization of the one-link robot arm driven by pneumatic artificial muscles. This work discusses an up-to-date control design based on the notion of a conventional and optimal backstepping controller for regulating a one-link robot arm with conflicting biceps and triceps positions supplied by pneumatic artificial muscles. The main problems found in systems that utilize pneumatic artificial muscle as actuators are primarily the large uncertainties, non-linearities, and time-varying features that severely impede movement performance in tracking control. In consideration of the uncertainty, high nonlinearity, and external disturbances that can exist during the motion. Lyapunov-based backstepping control technique was utilized to assure the stability of the system with improved dynamic performance. The bat algorithm optimization method is utilized in order to modify the variables used in the design of the controller to enhance the efficiency of the suggested controller. According to the conclusions, a quantitative comparison of the response in the PAM actuated the arm model in the current study and earlier investigations with the Backstepping controlled system revealed fair agreement with a variation of 37.5% from the optimal classical synergetic controller. In addition, computer simulations were utilized in order to compare the effectiveness of the proposed conventional controls and the optimal background. It has been proven that an optimal controller can control the uncertainties and maintain the controlled system’s stability.

Design of a Robust Controller Based on Barrier Function for Vehicle Steer-by-Wire Systems

“…Further advancements can be explored by suggesting other control techniques, such as adaptive control schemes, observe-based control, backstepping-based control, and active disturbance rejection control for the sake of comparison [45][46][47][48][49][50][51]. Also, an improvement of the proposed controller can be presented by suggesting modern optimization techniques to optimize the design parameters of the controller [52][53][54][55]. Another extension of this study could be to implement the proposed control in a real-time environment, either using a FPGA (field programming gate array) hardware tool, Raspberry-Pi single board computer, or LabVIEW-based data acquisition system [56][57][58][59][60].…”

Comparative Analysis of Airflow Regulation in Ventilator Systems Using Various Control Strategies

“…This section meticulously examines the performance of three control strategies for regulating airway pressure in respirators, focusing primarily on the data showcased in Figure 6. It is important to note that introducing nonlinear elements may escalate the controller's complexity [35][36][37].…”

Non-Leaner Control on the Pneumatic Artificial Muscles: A Comparative Study Between Adaptive Backstepping and Conventional Backstepping Algorithms

“…Due to their highly time-varying, nonlinear, ambiguous parameter structure, the PAM systems' operating ranges are highly constrained by factors that affect them, such as viscosity, temperature, and supply pressure. PAMs are unable to be controlled, which is another significant problem [9]. This is because the system mechanics contains many non-deterministic parameters and non-linear and nondeterministic elements that hinder the design of a reasonable and accurate actuator tracking controller [10].…”

“…The amount of pneumatic muscle extension xt and muscle contraction xb can be expressed respectively by researches [26,27]:…”

“…where m denotes mass in (kg), g represents gravitational acceleration (m/s 2 ), r is the pulley radius (m), xt represents pneumatic muscle extension (m), and xb is the muscle contraction (m). The PMs are attached to the elbow at point A, which is a rotational axis away from the joint.L is distance between joint and the load's center of mass.The amount of pneumatic muscle extension xt and muscle contraction xb can be expressed respectively by researches[26,27]:…”