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Modelling, simulation and implementation of a hybrid model reference adaptive controller applied to a manipulator driven by pneumatic artificial muscles

Published online by Cambridge University Press:  25 October 2021

Marcelo Henrique Souza Bomfim Open the ORCID record for Marcelo Henrique Souza Bomfim [Opens in a new window] ,
Neemias Silva Monteiro Open the ORCID record for Neemias Silva Monteiro [Opens in a new window]  and
Eduardo José Lima II Open the ORCID record for Eduardo José Lima II [Opens in a new window]
Marcelo Henrique Souza Bomfim*
Affiliation:
Graduate Program in Mechanical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil
Neemias Silva Monteiro
Affiliation:
Graduate Program in Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil
Eduardo José Lima II
Affiliation:
Mechanical Engineering Department, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil
*
*Corresponding author. Email: marcelo.bomfim@ifmg.edu.br
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Abstract

The present research aims to model, simulate and implement a new hybrid control approach based on a combination of proportional integral derivative (PID) Controller and Model Reference Adaptive Controller (MRAC), in which Lyapunov’s theory is used to ensure asymptotic stability to control a two degrees of freedom (DoF) manipulator driven by McKibben’s artificial pneumatic muscles. The MRAC controller works as a nonlinearity compensator and PID controller works during the transient period, as the MRAC performs poorly in this regime. This new approach is entitled Hybrid Model Reference Adaptive Controller (H-MRAC) and it has an unprecedented topological structure based on three terms. The feedforward term acts in disturbances rejection, the derivative term in oscillations damping and the feedback term acts in error convergence to zero. In this article, a control system dedicated to pneumatic manipulators was developed. As a result, proof of asymptotic convergence was performed for the proposed topological approach, which was validated on a two DoF manipulator. The proposed mechanism satisfactorily met the ISO/TS 15066 standard, and the position tracking obtained a global error of 37.69% and 51.01% smaller than found in the literature examples, entitled MRAC and A-PID, respectively, for simulations and 37.46% and 30.25% for experiments.

Keywords

control of robotic systemshuman robot interactioncompliant mechanismsMcKibben muscleadaptive controlPID controlmodel reference adaptive controlLyapunov methodsISO/TS 15066
Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1894 - 1918
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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