Position Control of a Cost-Effective Bellow Pneumatic Actuator Using an LQR Approach

Today, we are witnessing an increasing trend in the number of soft pneumatic actuator solutions industrial environments, especially due to their human-safe interaction capabilities. An interesting solution this frame is a vacuum muscle (PMA) with bellow structure, which characterized by high contraction ratio and ability generate forces considering its relatively small dimensions. Moreover, such generally very cost-effective since can be developed using easily accessible, off-the-shelf components combined additive manufacturing procedures. The presented research analyzes precision positioning performances newly PMA closed-loop setting, utilizing Proportional-Integral-Derivative (PID) controller Linear Quadratic Regulator (LQR). In first instance, system identification was performed numerical model developed. It experimentally shown that nonlinear dynamical behavior. Based on model, PID as benchmark. next phase, LQR involves pregain term built. point-to-point experimental results showed both controllers allow fast responses without overshoot within whole working range. On other hand, it discovered corresponding allows error few tens micrometers achieved across entire range muscle. Additionally, two different for indirect direct control were analyzed aim investigating response time comparing energy consumption. This contributes future development pneumatically driven mechatronics systems used precise position control.