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Open AccessArticle

A New Adaptive Synergetic Control Design for Single Link Robot Arm Actuated by Pneumatic Muscles

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Control and Systems Engineering Department, University of Technology, Baghdad 10001, Iraq
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Department of Electrical Engineering, College of Engineering, University of Baghdad, Baghdad 10001, Iraq
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Robotics and Internet-of-Things Lab (RIOTU), Prince Sultan University, Riyadh 11586, Saudi Arabia
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Faculty of Computers and Artificial Intelligence, Benha University, Benha 13518, Egypt
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Ministry of Trade, General Company for Grain Processing, Baghdad 10001, Iraq
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Author to whom correspondence should be addressed.
Entropy 2020, 22(7), 723; https://doi.org/10.3390/e22070723
Received: 16 June 2020 / Revised: 22 June 2020 / Accepted: 23 June 2020 / Published: 30 June 2020
This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first established based on known system parameters. However, in real PAM-actuated systems, the uncertainties are inherited features in their parameters and hence an adaptive synergetic control algorithm is proposed and synthesized for a PAM-actuated robot arm subjected to perturbation in its parameters. The adaptive synergetic laws are developed to estimate the uncertainties and to guarantee the asymptotic stability of the adaptive synergetic controlled PAM-actuated system. The work has also presented an improvement in the performance of proposed synergetic controllers (classical and adaptive) by applying a modern optimization technique based on Particle Swarm Optimization (PSO) to tune their design parameters towards optimal dynamic performance. The effectiveness of the proposed classical and adaptive synergetic controllers has been verified via computer simulation and it has been shown that the adaptive controller could cope with uncertainties and keep the controlled system stable. The proposed optimal Adaptive Synergetic Controller (ASC) has been validated with a previous adaptive controller with the same robot structure and actuation, and it has been shown that the optimal ASC outperforms its opponent in terms of tracking speed and error. View Full-Text
Keywords: Pneumatic Artificial Muscles; synergetic control; adaptive control; particle swarming optimization; single-link robot arm Pneumatic Artificial Muscles; synergetic control; adaptive control; particle swarming optimization; single-link robot arm
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Humaidi, A.J.; Ibraheem, I.K.; Azar, A.T.; Sadiq, M.E. A New Adaptive Synergetic Control Design for Single Link Robot Arm Actuated by Pneumatic Muscles. Entropy 2020, 22, 723.

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