ArticleFrontiers in robotics and AI2020
Controlling of Pneumatic Muscle Actuator Systems by Parallel Structure of Neural Network and Proportional Controllers (PNNP).
Article in Frontiers in robotics and AI, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Design, Construction and Control of a Manipulator Driven by Pneumatic Artificial Muscles.Sensors (Basel, Switzerland) · 2023Article
- Reconfigurable Soft Robots by Building Blocks.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2022Article
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3 authors.
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Abstract
This article proposed a novel controller structure to track the non-linear behavior of the pneumatic muscle actuator (PMA), such as the elongation for the extensor actuator and bending for the bending PMA. The proposed controller consists of a neural network (NN) controller laid in parallel with the proportional controller (P). The parallel neural network proportional (PNNP) controllers provide a high level of precision and fast-tracking control system. The PNNP has been applied to control the length of the single extensor PMA and the bending angle of the single self-bending contraction actuator (SBCA) at different load values. For further validation, the PNNP has been applied to control a human-robot shared control system. The results show the efficiency of the proposed controller structure.
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