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


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

January 6, 2016
May 6, 2016
July 5, 2016
system identification, thin soft actuator, ARX model, force control, PID-PSO
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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