New system identification model for predictive functional control with observer for an intelligent pneumatic actuator
2015
This thesis presents System Identification (SI) model development and controller
design using Predictive Functional Control with Observer (PFC-O) algorithm for realtime
control of Intelligent Pneumatic Actuator (IPA). An application of Ankle-Foot
Rehabilitation Exerciser (AFRE) device uses the IPA system. The plant mathematical
model in discrete transfer functions was approximated using the MATLAB system
identification toolbox for open-loop input-output experimental data. The SI process was
conducted through a series of activities including observation and data gathering, Auto
Regressive with Exogenous Input (ARX) model structure selection, model estimation,
model validation and the implementation of PFC-O algorithm designed to prove the
operation of IPA is acceptable. PFC-O algorithm was selected as a new control strategy
for IPA to overcome the real-time nonlinearities and uncertain characteristics. PFC-O
algorithm was used for position control, force control and realized compliance control
for stiffness characteristic through MODBUS communication protocol. Performance
assessment of the controller was programmed into MATLAB and validated through two
real-time experiments: Personal Computer (PC) based (using National Instrument (NI)
devices) and embedded based (using Programmable System on Chip (PSoC)
microcontroller). The results between simulation, theoretical calculation and both realtime
experiment matched closely and achieved the control objectives. Towards the
AFRE application, the IPA can be configured through MATLAB Graphical User
Interface (GUI) via personal computer where user can adjust the required Range of
Motion (ROM) and resistance in real-time. The AFRE system testing was conducted
successfully on selected subjects for various ROM and resistance using the proposed
algorithm. The significant finding demonstrates that the new PFC-O control algorithm
reduces the control effort and gives better performance in terms of tracking accuracy as
compared to the existing control algorithm.
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