POSITION CONTROL OF A SERVO-PNEUMATIC SYSTEM - Hybrid Fuzzy P+I Controller of a Servo-Pneumatic Fatigue Simulator

Marco Santos, Jorge Ferreira, José Simões

2009

Abstract

This paper proposes a hybrid fuzzy P+I controller for a servo-pneumatic machine to perform and monitor tests on biomechanical devices, such as orthopaedic prosthesis. The methodology followed is based upon the CompactRIO®, a real-time platform, and the system was fully programmed using LabVIEW language. Separate algorithms of a PI, proportional fuzzy and hybrid fuzzy P+I controllers were developed and compared. The performance of the overall system has already been tested and the experimental results for position control show that the PI controller can reach 2 µm of accuracy but with a very slow rise time. However, the same accuracy can be achieved with Hybrid Fuzzy P+I controller, although with a fast rise time and neglected overshoot. The authors can conclude that this proposal can successfully overcome unknown nonlinear parameters of the pneumatic system and has high position control accuracy.

Paper Citation

in Harvard Style

Santos M., Ferreira J. and Simões J. (2009). POSITION CONTROL OF A SERVO-PNEUMATIC SYSTEM - Hybrid Fuzzy P+I Controller of a Servo-Pneumatic Fatigue Simulator . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-99-9, pages 234-239. DOI: 10.5220/0002210802340239

in Bibtex Style

@conference{icinco09,
author={Marco Santos and Jorge Ferreira and José Simões},
title={POSITION CONTROL OF A SERVO-PNEUMATIC SYSTEM - Hybrid Fuzzy P+I Controller of a Servo-Pneumatic Fatigue Simulator},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2009},
pages={234-239},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002210802340239},
isbn={978-989-8111-99-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - POSITION CONTROL OF A SERVO-PNEUMATIC SYSTEM - Hybrid Fuzzy P+I Controller of a Servo-Pneumatic Fatigue Simulator
SN - 978-989-8111-99-9
AU - Santos M.
AU - Ferreira J.
AU - Simões J.
PY - 2009
SP - 234
EP - 239
DO - 10.5220/0002210802340239