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Simple neural network compact form model-free adaptive controller for thin McKibben muscle system


Citation

Abdul Hafidz, Muhamad Hazwan and Mohd Faudzi, Ahmad Athif and Norsahperi, Nor Mohd Haziq and Jamaludin, Mohd Najeb and Awang Hamid, Dayang Tiawa and Mohamaddan, Shahrol (2022) Simple neural network compact form model-free adaptive controller for thin McKibben muscle system. IEEE Access, 10. pp. 123410-123422. ISSN 2169-3536

Abstract

This paper proposes a simple neural network compact form model-free adaptive controller (NNCFMFAC) for a single thin McKibben muscle (TMM) system. The main contribution of this work is the simplification of the current neural network (NN) based compact form model-free adaptive controller (CFMFAC), which requires only two adaptive weights. This is achieved by designing a NN topology to specifically enhance the CFMFAC response. The prominent control parameters of the CFMFAC are combined and an adaptive weight is used for self-tuning, while the second adaptive weight is used to minimize the offset at each operating point. Hence the issues of redundant adaptive weights in complex neuro-based CFMFACs and slow response of the CFMFAC are significantly addressed. The idea is proven in three ways: analytically, simulation on a nonlinear system and experiments on a TMM platform. Experimental results demonstrating the superiority of the proposed method over the conventional CFMFAC is confirmed by a 76% improvement in convergence speed and a 60% reduction in root mean square error (RMSE). It is envisaged that the proposed controller can be very useful for TMM driven applications as it is model-independent, has fast response, high tracking accuracy, and minimal complexity.


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Official URL or Download Paper: https://ieeexplore.ieee.org/document/9934849/

Additional Metadata

Item Type: Article
Divisions: Faculty of Engineering
DOI Number: https://doi.org/10.1109/access.2022.3215980
Publisher: Institute of Electrical and Electronics Engineers
Keywords: Artificial neural networks; Control and learning for soft robots; Hydraulic/pneumatic actuators; Model-free adaptive controller; Modeling
Depositing User: Mr. Mohamad Syahrul Nizam Md Ishak
Date Deposited: 28 Jun 2024 10:02
Last Modified: 28 Jun 2024 10:02
Altmetrics: http://www.altmetric.com/details.php?domain=psasir.upm.edu.my&doi=10.1109/access.2022.3215980
URI: http://psasir.upm.edu.my/id/eprint/103196
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