The early detection of faults (just beginning and still developing) can help avoid system shutdown, breakdown and even catastrophes involving human fatalities and material damage. Computational intelligence techniques are being investigated as an extension to the traditional fault diagnosis methods. This paper discusses the neuro-fuzzy approach to modelling and fault diagnosis, based on the TSK...

This paper describes friction compensation based control of an industrial pneumatic actuator used for the variable geometry turbocharger (VGT). Adaptive LuGre model for friction has been used in this work. Friction force that is responsible for hysteresis and hunting phenomenon in the position control is compensated with two different control strategies designed to improve low velocity position...

In the paper, we interest to smart actuators. External model has been defined in order to improve behavioural of actuator in presence of failures. The external model requires information from Fault Detection and Isolation algorithms. To complete the information providing to the users, we associate bond graph methodology to the external model in order to complete the information with physical kn...

The early detection of faults (just beginning and still developing) can help avoid system shutdown, breakdown and even catastrophes involving human fatalities and material damage. Computational intelligence techniques are being investigated as extension of the traditional fault diagnosis methods. This paper discusses the properties of the TSK/Mamdani approaches and neuro-fuzzy (NF) fault diagno...

This work presents a new electrolysis-based microelectromechanical systems (MEMS) diaphragm actuator. Electrolysis is a technique for converting electrical energy to pneumatic energy. Theoretically electrolysis can achieve a strain of 136 000% and is capable of generating a pressure above 200 MPa. Electrolysis actuators require modest electrical power and produce minimal heat. Due to the large ...

This paper presents a control methodology that enables nonlinear model-based control of pulse width modulated (PWM) pneumatic servo actuators. An averaging approach is developed to describe the equivalent continuous-time dynamics of a PWM controlled nonlinear system, which renders the system, originally discontinuous and possibly nonaffine in the input, into an equivalent system that is both co...

This paper discusses research carried-out on the development and validation (on real plant) of a parity-equation based fault detection and isolation (FDI) system for a pneumatic actuator. A mechanistic model of the system is developed and validated in order to derive suitable parity equations for the pneumatic actuation system. The parity equations are then formulated and used to generate resid...

The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in th...

An angle trajectory tracking of a 3-DOF (Degree Of Freedom) pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension or shortening of the three pneumatic cylinders. The response of pneumatic cylinder is relatively slow for motor actuator and can get a good single-axis trajectory control by tradition...

Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of r...