Fuzzy logic control of a pneumatic muscle system using a linearing control scheme

K. Balasubramanian, K. Rattan
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引用次数: 53

Abstract

A linearizing control scheme for a highly nonlinear pneumatic muscle (PM) system is presented in this paper. Linearizing controllers have been widely used in the control of robotic systems. Since PM is a highly nonlinear system, the concept of linearizing control can be extended to the control of these muscles. Pneumatic muscle has air pressure as its input and the output is a displacement of the muscle. The system is considered to be a mass-spring-damper system with a nonlinear damper and a spring. This nonlinearity makes the design of a mathematical controller more difficult. The scheme presented in this paper uses fuzzy logic to implement the controller. The controller has a model-based portion and a servo-based portion. The model-based portion cancels all the nonlinearities caused by the nonlinear damper and spring. Therefore, the system as seen by the servo-based portion is linear, which can then be controlled using a linear PID controller. The controller is conceptually simple but exhibited superior tracking capability.
采用线性控制方案的气动肌肉系统模糊逻辑控制
提出了一种高度非线性气动肌肉(PM)系统的线性化控制方案。线性化控制器在机器人系统控制中得到了广泛的应用。由于PM是一个高度非线性的系统,线性化控制的概念可以推广到这些肌肉的控制。气动肌肉的输入是气压,输出是肌肉的位移。该系统被认为是一个具有非线性阻尼器和弹簧的质量-弹簧-阻尼系统。这种非线性使得数学控制器的设计更加困难。本文提出的方案采用模糊逻辑实现控制器。该控制器具有基于模型的部分和基于伺服的部分。基于模型的部分消除了非线性阻尼器和弹簧引起的所有非线性。因此,系统所看到的基于伺服的部分是线性的,然后可以使用线性PID控制器进行控制。该控制器在概念上简单,但表现出优异的跟踪能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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