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Research on PSA-MFAC for a novel bionic elbow joint system actuated by pneumatic artificial muscles

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Abstract

A 3-DOF bionic elbow joint actuated by Pneumatic artificial muscle (PAM) was designed in this paper, and its inverse kinematics model was also established. Then, based on the Model-free adaptive control (MFAC) theory and the effects of control parameters to the control system, a Parameter self-adjust Model-free adaptive control (PSA-MFAC) strategy was proposed, and its adaptability for different control objects was also tested in simulation environment. Combined with the inverse kinematics model, motion control experiments of the bionic elbow joint were conducted in semi-physical platform. Compared with conventional MFAC and PID control algorithm, the experiment results strongly verified the improvement of PSA-MFAC control accuracy. The tracking accuracy of conventional MFAC and PID controller were 9.5 % and 15 %, respectively, in contrast, the PSA-MFAC controller was only 3.8 %. Moreover, complex dynamics modelling of the elbow joint and adjusting process of control parameters were neglected in PSA-MFAC control system.

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Authors and Affiliations

  1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang, 110819, China

    Hui Yang, Chaoqun Xiang, Lina Hao, Liangliang Zhao & Bangcan Xue

Authors
  1. Hui Yang
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  2. Chaoqun Xiang
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  3. Lina Hao
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  4. Liangliang Zhao
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  5. Bangcan Xue
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Corresponding author

Correspondence to Lina Hao.

Additional information

Recommended by Associate Editor Sangyoon Lee

Hui Yang was born in Jinzhou, China, in 1987. He received the B.S. degree and M.S. degree in machinery design and manufacture from Liaoning Shihua University, Fushun, China in 2010 and 2013, respectively. He is currently a Ph.D. candidate at the Northeastern University, Shenyang, China. His research interests include modeling and control of PAM and compliance control of the bionic manipulator actuated by artificial muscles. He is a student member of IEEE and International Society of Bionic Engineering.

Lina Hao was born in Zhuanghe, China, in 1968. She received the B.S. degree in machinery design and manufacture from Shenyang Ligong University, Shenyang, China in 1989, M.S. degree in solid mechanics and Ph.D. degree in control theory and control engineering from Northeastern University, Shenyang, China in 1994 and 2001, respectively. Currently, she is a Professor in Department of Mechanical Engineering and Automation in Northeastern University, China. Her research interests include robot system and intelligent control, intelligent structure and precision motion control system, pattern recognition and condition monitoring. Prof. Hao is selected as a hundredlevel member in "Pacesetter Project" Liaoning province, China, a member of International Society of Bionic Engineering and a member of Chinese Association of Automation System Simulation Discipline and Robot Discipline Committee.

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Yang, H., Xiang, C., Hao, L. et al. Research on PSA-MFAC for a novel bionic elbow joint system actuated by pneumatic artificial muscles. J Mech Sci Technol 31, 3519–3529 (2017). https://doi.org/10.1007/s12206-017-0640-0

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  • DOI: https://doi.org/10.1007/s12206-017-0640-0

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