Modeling and Position Control of Fiber Braided Bending Actuator Using Embedded System
نویسندگان
چکیده
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 system input and output are by method. Thus, voltage supplied electro-pneumatic regulators position (angle) FBBA collect input–output data study. In system, PRBS generators generate an signal for valve. auto-regressive with exogenous (ARX) chosen. As controller PID Genetic Algorithm (GA) tuning auto-tuned proposed. reference angle, simulation, actual test compared. gained SI verified through simulation result control. It was found that obtained able represent plant.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2023
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13053170