Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System

The System identification (SI) black box method is used in this study to obtain the mathematical model of a fiber braided bending actuator (FBBA) using MATLAB Simulink. Data from the system input and output are used by the black box method. Thus, the voltage supplied to the electro-pneumatic regula...

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Main Authors: Muhammad Nasir, Mohd Nizar, Mohd Nordin, Najaa Aimi, Mohd Faudzi, Ahmad Athif, Muftah, Mohamed Naji, Mhd Yusoff, Mohd Akmal, Shahrol Mohamaddan, Shahrol Mohamaddan
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Language:English
Published: Mdpi 2023
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Online Access:http://eprints.uthm.edu.my/10289/1/J15890_f2a8e4459b3c3ebfae533ed5e877bce8.pdf
http://eprints.uthm.edu.my/10289/
https://doi.org/10.3390/app13053170
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spelling my.uthm.eprints.102892023-10-30T07:22:09Z http://eprints.uthm.edu.my/10289/ Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System Muhammad Nasir, Mohd Nizar Mohd Nordin, Najaa Aimi Mohd Faudzi, Ahmad Athif Muftah, Mohamed Naji Mhd Yusoff, Mohd Akmal Shahrol Mohamaddan, Shahrol Mohamaddan T Technology (General) The System identification (SI) black box method is used in this study to obtain the mathematical model of a fiber braided bending actuator (FBBA) using MATLAB Simulink. Data from the system input and output are used by the black box method. Thus, the voltage supplied to the electro-pneumatic regulators and the position (angle) of the FBBA system are used to collect input–output data in this study. In the system, PRBS generators are used to generate an input signal for the electro-pneumatic valve. The auto-regressive with exogenous input (ARX) model is chosen. As the controller for the FBBA position system, PID with the Genetic Algorithm (GA) tuning method and auto-tuned tuning method is proposed. The reference angle, simulation, and actual test are compared. The mathematical model gained from the SI method is verified through the simulation and test result of the position control. It was found that the model obtained through SI able represent the actual plant. Mdpi 2023 Article PeerReviewed text en http://eprints.uthm.edu.my/10289/1/J15890_f2a8e4459b3c3ebfae533ed5e877bce8.pdf Muhammad Nasir, Mohd Nizar and Mohd Nordin, Najaa Aimi and Mohd Faudzi, Ahmad Athif and Muftah, Mohamed Naji and Mhd Yusoff, Mohd Akmal and Shahrol Mohamaddan, Shahrol Mohamaddan (2023) Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System. Applied Sciences, 13 (3170). pp. 1-15. https://doi.org/10.3390/app13053170
institution Universiti Tun Hussein Onn Malaysia
building UTHM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tun Hussein Onn Malaysia
content_source UTHM Institutional Repository
url_provider http://eprints.uthm.edu.my/
language English
topic T Technology (General)
spellingShingle T Technology (General)
Muhammad Nasir, Mohd Nizar
Mohd Nordin, Najaa Aimi
Mohd Faudzi, Ahmad Athif
Muftah, Mohamed Naji
Mhd Yusoff, Mohd Akmal
Shahrol Mohamaddan, Shahrol Mohamaddan
Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System
description The System identification (SI) black box method is used in this study to obtain the mathematical model of a fiber braided bending actuator (FBBA) using MATLAB Simulink. Data from the system input and output are used by the black box method. Thus, the voltage supplied to the electro-pneumatic regulators and the position (angle) of the FBBA system are used to collect input–output data in this study. In the system, PRBS generators are used to generate an input signal for the electro-pneumatic valve. The auto-regressive with exogenous input (ARX) model is chosen. As the controller for the FBBA position system, PID with the Genetic Algorithm (GA) tuning method and auto-tuned tuning method is proposed. The reference angle, simulation, and actual test are compared. The mathematical model gained from the SI method is verified through the simulation and test result of the position control. It was found that the model obtained through SI able represent the actual plant.
format Article
author Muhammad Nasir, Mohd Nizar
Mohd Nordin, Najaa Aimi
Mohd Faudzi, Ahmad Athif
Muftah, Mohamed Naji
Mhd Yusoff, Mohd Akmal
Shahrol Mohamaddan, Shahrol Mohamaddan
author_facet Muhammad Nasir, Mohd Nizar
Mohd Nordin, Najaa Aimi
Mohd Faudzi, Ahmad Athif
Muftah, Mohamed Naji
Mhd Yusoff, Mohd Akmal
Shahrol Mohamaddan, Shahrol Mohamaddan
author_sort Muhammad Nasir, Mohd Nizar
title Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System
title_short Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System
title_full Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System
title_fullStr Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System
title_full_unstemmed Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System
title_sort modeling and position control of fiber braided bending actuator using embedded system
publisher Mdpi
publishDate 2023
url http://eprints.uthm.edu.my/10289/1/J15890_f2a8e4459b3c3ebfae533ed5e877bce8.pdf
http://eprints.uthm.edu.my/10289/
https://doi.org/10.3390/app13053170
_version_ 1781707460817453056
score 13.211869