Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System

Mohd Nizar Muhammad Nasir, Mohd Nizar Muhammad Nasir and Najaa Aimi Mohd Nordin, Najaa Aimi Mohd Nordin and Ahmad Athif Mohd Faudzi, Ahmad Athif Mohd Faudzi and Mohamed Naji Muftah, Mohamed Naji Muftah and Mohd Akmal Mhd Yusoff, Mohd Akmal Mhd Yusoff and Shahrol Mohamaddan, Shahrol Mohamaddan (2023) Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System. Applied Sciences, 13 (3170). pp. 1-15.

[img] Text
J15890_f2a8e4459b3c3ebfae533ed5e877bce8.pdf
Restricted to Registered users only
Download (5MB) | Request a copy

Abstract

The System identification (SI) black box method is used in this study to obtain the mathematical model of a fiber braided bending actuator (FBBA) using MATLAB Simulink. Data from the system input and output are used by the black box method. Thus, the voltage supplied to the electro-pneumatic regulators and the position (angle) of the FBBA system are used to collect input–output data in this study. In the system, PRBS generators are used to generate an input signal for the electro-pneumatic valve. The auto-regressive with exogenous input (ARX) model is chosen. As the controller for the FBBA position system, PID with the Genetic Algorithm (GA) tuning method and auto-tuned tuning method is proposed. The reference angle, simulation, and actual test are compared. The mathematical model gained from the SI method is verified through the simulation and test result of the position control. It was found that the model obtained through SI able represent the actual plant.

Item Type: Article
Uncontrolled Keywords: system identification; soft actuator; ARX; fiber braided bending actuator; Arduino
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Engineering Technology > Department of Electrical Engineering Technology
Depositing User: Mr. Mohamad Zulkhibri Rahmad
Date Deposited: 21 Nov 2023 01:49
Last Modified: 21 Nov 2023 01:49
URI: http://eprints.uthm.edu.my/id/eprint/10459

Actions (login required)

View Item View Item