A New Approach to Modeling and Controlling a Pneumatic Muscle Actuator-Driven Setup Using Back Propagation Neural Networks
Joint Authors
Zhong, Jun
Zhou, Xu
Luo, Minzhou
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-10-14
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
Pneumatic muscle actuators (PMAs) own excellent compliance and a high power-to-weight ratio and have been widely used in bionic robots and rehabilitated robots.
However, the high nonlinear characteristics of PMAs due to inherent construction and pneumatic driving principle bring great challenges in applications acquired accurately modeling and controlling.
To tackle the tricky problem, a single PMA mass setup is constructed, and a back propagation neural network (BPNN) is employed to identify the dynamics of the setup.
An offline model is built up using sampled data, and online modifications are performed to further improve the quality of the model.
An adaptive controller based on BPNN is designed using gradient descent information of the built-up model.
Experiments of identifying the PMA setup using BPNN and position tracking by adaptive BPNN controller are performed, and results demonstrate the good capacity in accurate controlling of the PMA setup.
American Psychological Association (APA)
Zhong, Jun& Zhou, Xu& Luo, Minzhou. 2018. A New Approach to Modeling and Controlling a Pneumatic Muscle Actuator-Driven Setup Using Back Propagation Neural Networks. Complexity،Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1134023
Modern Language Association (MLA)
Zhong, Jun…[et al.]. A New Approach to Modeling and Controlling a Pneumatic Muscle Actuator-Driven Setup Using Back Propagation Neural Networks. Complexity No. 2018 (2018), pp.1-9.
https://search.emarefa.net/detail/BIM-1134023
American Medical Association (AMA)
Zhong, Jun& Zhou, Xu& Luo, Minzhou. A New Approach to Modeling and Controlling a Pneumatic Muscle Actuator-Driven Setup Using Back Propagation Neural Networks. Complexity. 2018. Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1134023
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1134023