A New Adaptive Synergetic Control Design for Single Link Robot Arm Actuated by Pneumatic Muscles

Abstract

This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first established based on known system parameters. However, in real PAM-actuated systems, the uncertainties are inherited features in their parameters and hence an adaptive synergetic control algorithm is proposed and synthesized for a PAM-actuated robot arm subjected to perturbation in its parameters. The adaptive synergetic laws are developed to estimate the uncertainties and to guarantee the asymptotic stability of the adaptive synergetic controlled PAM-actuated system. The work has also presented an improvement in the performance of proposed synergetic controllers (classical and adaptive) by applying a modern optimization technique based on Particle Swarm Optimization (PSO) to tune their design parameters towards optimal dynamic performance. The effectiveness of the proposed classical and adaptive synergetic controllers has been verified via computer simulation and it has been shown that the adaptive controller could cope with uncertainties and keep the controlled system stable. The proposed optimal Adaptive Synergetic Controller (ASC) has been validated with a previous adaptive controller with the same robot structure and actuation, and it has been shown that the optimal ASC outperforms its opponent in terms of tracking speed and error.

Adaptive Nonlinear Control of Unified Model of Fuel Cell, Battery, Ultracapacitor and Induction Motor Based Hybrid Electric Vehicles

“…Now putting the values ofż 1 ,ż 2 ,ż 3 andż 4 from equations ( 36) to (39) in equations ( 45) to (48) respectively, we have:…”

“…[37], [38]. ASC is designed by considering the macro-variables with the tracking errors to cater for the parametric variations of system [39], [40]. ATSMC provides good robustness against external disturbances and shows better results by adapting the values of unknown parameters.…”

Adaptive backstepping control design for ball and beam system

“…Nevertheless, this is a very conservative approach and will not be adopted in this work. Here, an adaptive control design will be proposed, in order to incorporate estimated values of the uncertainties in the control law [35][36][37].…”

Analytical Synthesis of Non-Linear Control Algorithms of a Chemical Reactor Thermal Mode

“…In our opinion, the Analytical Design of Aggregated Regulators (ADAR) method, developed as part of synergetic control theory [8][9][10][11][12][13][14][15][16][17][18], which provides asymptotic stability of the automatic control system as a whole in a wide range of changes in state variables and the input variables appear promising in this regard.…”