TY - JOUR ID - 12519 TI - Position Control of a Pulse Width Modulated Pneumatic Systems: an Experimental Comparison JO - International Journal of Robotics, Theory and Applications JA - IJR LA - en SN - 2008-7144 AU - Aliyari Shoorehdeli, Mahdi AU - Najafi, Farid AU - Jafari, Sahar AD - K.N. Toosi University of Technology AD - Islamic Azad University Science and Research Branch Y1 - 2013 PY - 2013 VL - 3 IS - 1 SP - 57 EP - 66 KW - ANFIS KW - RBF Neural Network KW - Modified Feedback Error Learning KW - Pneumatic actuator KW - Position control KW - Pulse Width Modulation DO - N2 - In this study, a new adaptive controller is proposed for position control of pneumatic systems. Difficulties associated with the mathematical model of the system in addition to the instability caused by Pulse Width Modulation (PWM) in the learning-based controllers using gradient descent, motivate the development of a new approach for PWM pneumatics. In this study, two modified Feedback Error Learning (FEL) methods are suggested and the their effectiveness are validated by experimental tracking data. The first one is a combination of PD (Proportional–Derivative) and RBF (Radial Basis Function) and in the second one RBF is replaced by ANFIS (Adaptive Neuro-Fuzzy Inference System). The robustness to varying mass is also examined. The experimental results show that the proposed algorithms, especially with ANFIS, are able to give good performance regardless of any uncertainties. UR - https://ijr.kntu.ac.ir/article_12519.html L1 - https://ijr.kntu.ac.ir/article_12519_079f342024bbaa0b55bdec1598f64cd4.pdf ER -