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IJAT Vol.10 No.4 pp. 487-493
doi: 10.20965/ijat.2016.p0487
(2016)

Paper:

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Modeling and Force Control of Thin Soft McKibben Actuator

Ahmad Athif Mohd Faudzi*,***,†, Noor Hanis Izzuddin Mat Lazim**, and Koichi Suzumori***

*Center for Artificial Intelligence and Robotics (CAIRO), Universiti Teknologi Malaysia
Johor Bahru, Johor 81310, Malaysia

†Corresponding author,

**Universiti Sains Islam Malaysia, Negeri Sembilan, Malaysia

***Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan

Received:
January 6, 2016
Accepted:
May 6, 2016
Published:
July 5, 2016
Creative Commons License
Keywords:
system identification, thin soft actuator, ARX model, force control, PID-PSO
Abstract
This paper presents the modeling of a thin soft McKibben actuator using the system identification (SI) method and its force control. Procedures from the system identification method are used to create a mathematical model (transfer function) from the test data. The autoregressive with exogenous input (ARX) model was chosen as the model structure of the system. Next, a PSO-PID controller was proposed for the force control of the actuator. The simulation data were verified against the test data for the force control using PSO-PID and conventional PID. Results showed that the developed model represents the actual system by giving the same characteristics in the force control analysis in step, multi-step, and sinusoidal input.
Cite this article as:
A. Faudzi, N. Lazim, and K. Suzumori, “Modeling and Force Control of Thin Soft McKibben Actuator,” Int. J. Automation Technol., Vol.10 No.4, pp. 487-493, 2016.
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