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Linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls

This paper proposed a linearized model of intelligent pneumatic actuator (IPA) based on the linearization technique known as Taylor series expansion. First, nonlinear mathematical modeling for the IPA system according to fundamental physical derivation is presented. Linearization is then introduced...

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Main Authors:	Mohd. Faudzi, Ahmad ‘Athif, Enn, Teh Chuan, Osman, Khairuddin, Ismail, Z. H.
Format:	Conference or Workshop Item
Published:	2013
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/51145/ http://ac.els-cdn.com/S1877705812026173/1-s2.0-S1877705812026173-main.pdf?_tid=b69f96b6-9b7d-11e7-a361-00000aacb35d&acdnat=1505635169_963c579ff30e63f0b4d4f8e8475744d6
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id	my.utm.51145
record_format	eprints
spelling	my.utm.511452017-09-26T08:39:40Z http://eprints.utm.my/id/eprint/51145/ Linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls Mohd. Faudzi, Ahmad ‘Athif Enn, Teh Chuan Osman, Khairuddin Ismail, Z. H. TK Electrical engineering. Electronics Nuclear engineering This paper proposed a linearized model of intelligent pneumatic actuator (IPA) based on the linearization technique known as Taylor series expansion. First, nonlinear mathematical modeling for the IPA system according to fundamental physical derivation is presented. Linearization is then introduced to linearize this nonlinear mathematical model. For the controller design, Neuro-Fuzzy Inference System (ANFIS) is proposed. ANFIS, which combines neural network and fuzzy logic, are adopted and applied to the linear mathematical model to perform position, force and viscosity controls. By training the correct data, membership functions for the fuzzy logic can be obtained through ANFIS toolbox in MATLAB. Closed-loop control for IPA system is conducted and performance the Proportional-Integral (PI) ANFIS controller is analyzed and compared with conventional PI controller. Simulation results show that PI ANFIS controller performed better than conventional PI controller in terms of position, force tracking and viscosity control. 2013 Conference or Workshop Item PeerReviewed Mohd. Faudzi, Ahmad ‘Athif and Enn, Teh Chuan and Osman, Khairuddin and Ismail, Z. H. (2013) Linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls. In: 2013 9th Asian Control Conference, ASCC 2013. http://ac.els-cdn.com/S1877705812026173/1-s2.0-S1877705812026173-main.pdf?_tid=b69f96b6-9b7d-11e7-a361-00000aacb35d&acdnat=1505635169_963c579ff30e63f0b4d4f8e8475744d6
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Mohd. Faudzi, Ahmad ‘Athif Enn, Teh Chuan Osman, Khairuddin Ismail, Z. H. Linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls
description	This paper proposed a linearized model of intelligent pneumatic actuator (IPA) based on the linearization technique known as Taylor series expansion. First, nonlinear mathematical modeling for the IPA system according to fundamental physical derivation is presented. Linearization is then introduced to linearize this nonlinear mathematical model. For the controller design, Neuro-Fuzzy Inference System (ANFIS) is proposed. ANFIS, which combines neural network and fuzzy logic, are adopted and applied to the linear mathematical model to perform position, force and viscosity controls. By training the correct data, membership functions for the fuzzy logic can be obtained through ANFIS toolbox in MATLAB. Closed-loop control for IPA system is conducted and performance the Proportional-Integral (PI) ANFIS controller is analyzed and compared with conventional PI controller. Simulation results show that PI ANFIS controller performed better than conventional PI controller in terms of position, force tracking and viscosity control.
format	Conference or Workshop Item
author	Mohd. Faudzi, Ahmad ‘Athif Enn, Teh Chuan Osman, Khairuddin Ismail, Z. H.
author_facet	Mohd. Faudzi, Ahmad ‘Athif Enn, Teh Chuan Osman, Khairuddin Ismail, Z. H.
author_sort	Mohd. Faudzi, Ahmad ‘Athif
title	Linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls
title_short	Linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls
title_full	Linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls
title_fullStr	Linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls
title_full_unstemmed	Linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls
title_sort	linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls
publishDate	2013
url	http://eprints.utm.my/id/eprint/51145/ http://ac.els-cdn.com/S1877705812026173/1-s2.0-S1877705812026173-main.pdf?_tid=b69f96b6-9b7d-11e7-a361-00000aacb35d&acdnat=1505635169_963c579ff30e63f0b4d4f8e8475744d6
_version_	1643652953060409344
score	13.244745

Linearized mathematical model of intelligent pneumatic actuator system: position, force and viscosity controls

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