Journal of Mechanical Science and Technology

, Volume 19, Issue 1, pp 106–115 | Cite as

Nonlinear PID control to improve the control performance of the pneumatic artificial muscle manipulator using neural network



A novel actuator system which has achieved increased popularity to provide these advantages such as high strength and power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available, cheap power source, inherent safety and mobility assistance to humans performing tasks has been the utilization of the pneumatic artificial muscle (PAM) manipulator, in recent times. However, the complex nonlinear dynamics of the PAM manipulator makes it a challenging and appealing system for modeling and control design. The problems with the time variance, compliance, high hysteresis and nonlinearity of pneumatic systems have made it difficult to realize precise position control with high speed. In order to realize satisfactory control performance, the effect of nonlinear factors contained in thePAM manipulator must be considered. The purpose of this study is to improve the control performance of thePAM manipulator using a nonlinearPID controller. Superb mixture of conventionalPID controller and the neural network, which has powerful capability of learning, adaptation and tackling nonlinearity, brings us a novel nonlinearPID controller using neural network. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practicalPAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through the experiments, which suggests its superior performance and disturbance rejection.

Key Words

Pneumatic Artificial Muscle Neural Network Nonlinear PID Control 


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Copyright information

© The Korean Society of Mechanical Engineers (KSME) 2005

Authors and Affiliations

  1. 1.School of Mechanical and Automotive EngineeringUniversity of UlsanMuger 2dong, Nam-guKorea
  2. 2.Graduate School of Mechanical and Automotive EngineeringUniversity of UlsanMuger 2dong, Nam-guKorea

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