Which is the Best PID Variant for Pneumatic Soft Robots? An Experimental Study

doi:10.1109/JAS.2020.1003045

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Which is the Best PID Variant for Pneumatic Soft Robots? An Experimental Study
	Ameer Hamza Khan; Zili Shao; Shuai Li; Qixin Wang; Nan Guan
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:2 页码:451-460
摘要	This paper presents an experimental study to compare the performance of model-free control strategies for pneumatic soft robots. Fabricated using soft materials, soft robots have gained much attention in academia and industry during recent years because of their inherent safety in human interaction. However, due to structural flexibility and compliance, mathematical models for these soft robots are nonlinear with an infinite degree of freedom (DOF). Therefore, accurate position (or orientation) control and optimization of their dynamic response remains a challenging task. Most existing soft robots currently employed in industrial and rehabilitation applications use model-free control algorithms such as PID. However, to the best of our knowledge, there has been no systematic study on the comparative performance of model-free control algorithms and their ability to optimize dynamic response, i.e., reduce overshoot and settling time. In this paper, we present comparative performance of several variants of model-free PID-controllers based on extensive experimental results. Additionally, most of the existing work on model-free control in pneumatic soft-robotic literature use manually tuned parameters, which is a time-consuming, labor-intensive task. We present a heuristic-based coordinate descent algorithm to tune the controller parameter automatically. We presented results for both manual tuning and automatic tuning using the Ziegler–Nichols method and proposed algorithm, respectively. We then used experimental results to statistically demonstrate that the presented automatic tuning algorithm results in high accuracy. The experiment results show that for soft robots, the PID-controller essentially reduces to the PI controller. This behavior was observed in both manual and automatic tuning experiments; we also discussed a rationale for removing the derivative term.
关键词	Automatic tuning algorithm model-free control PID soft robotics
DOI	10.1109/JAS.2020.1003045
引用统计	被引频次：27[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42956
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Ameer Hamza Khan,Zili Shao,Shuai Li,et al. Which is the Best PID Variant for Pneumatic Soft Robots? An Experimental Study[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(2):451-460.
APA	Ameer Hamza Khan,Zili Shao,Shuai Li,Qixin Wang,&Nan Guan.(2020).Which is the Best PID Variant for Pneumatic Soft Robots? An Experimental Study.IEEE/CAA Journal of Automatica Sinica,7(2),451-460.
MLA	Ameer Hamza Khan,et al."Which is the Best PID Variant for Pneumatic Soft Robots? An Experimental Study".IEEE/CAA Journal of Automatica Sinica 7.2(2020):451-460.

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