Model Predictive Control for Tendon-Driven Balloon Actuator under Constraints on Simulation

Jun Ya Nagase; Kazuki Hamada; Toshiyuki Satoh; Norihiko Saga

doi:10.4028/www.scientific.net/AMM.789-790.615

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 789-790Model Predictive Control for Tendon-Driven Balloon...

Model Predictive Control for Tendon-Driven Balloon Actuator under Constraints on Simulation

Abstract:

Many pneumatic actuators have been developed in order to be lightweight with high output for decreasing impact force. So far, a pneumatic tendon-driven balloon actuator (balloon actuator) which is compact and lightweight has been developed for a robot hand and a rehabilitation device. However, for pneumatic actuator, it is difficult to maintain exact control because these actuators have constraints. For this study, we developed a stroke control system for a balloon actuator using a constrained model predictive control (MPC) scheme that can consider constraints of the plant output. As described in this paper, we compared and evaluated the control performance using MPC and PID.

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Periodical:

Applied Mechanics and Materials (Volumes 789-790)

Pages:

615-620

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.789-790.615

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Online since:

September 2015

Authors:

Jun Ya Nagase*, Kazuki Hamada, Toshiyuki Satoh, Norihiko Saga

Keywords:

Model Predictive Control, Pneumatic Balloon, Soft Actuator, Tendon-Driven System

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* - Corresponding Author

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