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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| Online Access: | http://eprints.uthm.edu.my/8933/1/J15890_f2a8e4459b3c3ebfae533ed5e877bce8.pdf http://eprints.uthm.edu.my/8933/ https://doi.org/10.3390/app13053170 |
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my.uthm.eprints.89332023-06-18T01:36:04Z http://eprints.uthm.edu.my/8933/ Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System Muhammad Nasir, Mohd Nizar Mohd Nordin, Ili Najaa Aimi Mohd Faudzi, Ahmad Athif Muftah, Mohamed Naji Mhd Yusoff, Mohd Akmal Mohamaddan, Shahrol 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/8933/1/J15890_f2a8e4459b3c3ebfae533ed5e877bce8.pdf Muhammad Nasir, Mohd Nizar and Mohd Nordin, Ili Najaa Aimi and Mohd Faudzi, Ahmad Athif and Muftah, Mohamed Naji and Mhd Yusoff, Mohd Akmal and Mohamaddan, Shahrol (2023) Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System. Applied Sciences, 13 (3170). pp. 1-16. https://doi.org/10.3390/app13053170 |
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T Technology (General) Muhammad Nasir, Mohd Nizar Mohd Nordin, Ili Najaa Aimi Mohd Faudzi, Ahmad Athif Muftah, Mohamed Naji Mhd Yusoff, Mohd Akmal Mohamaddan, Shahrol 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, Ili Najaa Aimi Mohd Faudzi, Ahmad Athif Muftah, Mohamed Naji Mhd Yusoff, Mohd Akmal Mohamaddan, Shahrol |
| author_facet |
Muhammad Nasir, Mohd Nizar Mohd Nordin, Ili Najaa Aimi Mohd Faudzi, Ahmad Athif Muftah, Mohamed Naji Mhd Yusoff, Mohd Akmal Mohamaddan, Shahrol |
| 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/8933/1/J15890_f2a8e4459b3c3ebfae533ed5e877bce8.pdf http://eprints.uthm.edu.my/8933/ https://doi.org/10.3390/app13053170 |
| _version_ |
1769845115251064832 |
| score |
13.211869 |