Addie Irawan, Hashim and Mohd Iskandar Putra, Azahar and Mohd Syakirin, Ramli (2023) Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control. Przegląd Elektrotechniczny, 2023 (9). pp. 98-103. ISSN 0033-2097. (Published)
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Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control.pdf Download (963kB) | Preview |
Abstract
This study presents a method for improving the precision of pneumatic pressure regulation and control in a finger of a tri-finger pneumatic grasper (TPG) robot. The method employs finite time and convergence prescribed performance control (FTC-PPC) in conjunction with proportional, integral, and derivative (PID) control as a strategy to overcome the nonlinearity and uncertainties of pressure regulation of the pneumatic system in the TPG. Besides finite-time tuning, the proposed PPC formulation also introduced convergence rate and domain. To test the method, several experiments were conducted using a 5/3-way pneumatic proportional valve (PPV) configuration with pressure transducers for feedback responses. Two different pressure input patterns, a step, and periodic in-put patterns were used in the experiments. The results show that the proposed controller outperformed the PID as well as the finite-time PPC with PID from the previous works in regulating the pressure for a finger of the TPG by average. 10% in terms of minimizing overshoot, suppressing oscillations, and providing a fast response.
| Item Type: | Article |
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| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical and Electronic Engineering Technology |
| Depositing User: | Assoc.Prof Addie Irawan |
| Date Deposited: | 26 Oct 2023 03:21 |
| Last Modified: | 26 Oct 2023 03:21 |
| URI: | http://umpir.ump.edu.my/id/eprint/38608 |
| Download Statistic: | View Download Statistics |
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