Switching Model Predictive Control for Thin McKibben Muscle Servo Actuator
Mohd Akmal Mhd Yusoff,
Ahmad Athif Mohd Faudzi,
Mohd Shukry Hassan Basri,
Mohd Fuaad Rahmat,
Mohd Ibrahim Shapiai,
Shahrol Mohamaddan
Affiliations
Mohd Akmal Mhd Yusoff
Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, Jalan Sultan Yahya Petra, Kuala Lumpur 54100, Malaysia
Ahmad Athif Mohd Faudzi
School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Skudai, Johor Bahru 81310, Malaysia
Mohd Shukry Hassan Basri
Engineering Research Centre, Malaysian Agricultural Research and Development Institute (MARDI) Headquarters, Persiaran MARDI-UPM, Serdang 43400, Malaysia
Mohd Fuaad Rahmat
School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia, Skudai, Johor Bahru 81310, Malaysia
Mohd Ibrahim Shapiai
Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, Jalan Sultan Yahya Petra, Kuala Lumpur 54100, Malaysia
Shahrol Mohamaddan
Department of Bioscience and Engineering, College of Systems Engineering and Science, Shibaura Institute of Technology, Saitama 337-8570, Japan
Dynamic characteristics and control of thin McKibben muscle (TMM) have not yet been fully investigated, especially on the translational antagonistic pair system. Therefore, the objective of this study is to propose a Switching Model Predictive Control (SMPC) based on a Piecewise Affine (PWA) system model to control a translational antagonistic-pair TMM servo actuator. A novel configuration enables the servo actuator to achieve a position control of 40 mm within a small footprint. The result shows that the feedback system gives minimal steady-state errors when tracking staircase and setpoint references ranging from 0 to 3.5 cm. The controller also produces better transient and steady-state responses than our previously developed Gain-scheduled Proportional–Integral–Derivative (GSPID) controller. The evidence from this study suggests that a predictive control for a TMM servo actuator is feasible.
