System Identification and Embedded Controller Design for Pneumatic Actuator with Stiffness Characteristic

摘要: This paper presents model and controller design applications to pneumatic actuator embedded system. Two strategies of position force are proposed realize compliance control for stiffness characteristic. Model the system (transfer function) is obtained from identification (SI) method. Next, combination predictive functional with observer (PFC-O) selected as a new strategy Performance assessment performed in MATLAB validated through real-time experiments using national instrument (NI) devices programmable on chip (PSoC) microcontroller. Result shows that adapted able successfully both simulation experiments.