NDLI: Improved modeling of pneumatic muscle actuator using recurrent neural network

Content Provider	IEEE Xplore Digital Library
Author	Hosovsky, A. Mizakova, J. Pitel, J.
Copyright Year	2014
Description	Author affiliation: Dept. of Math., Inf. & Cybern., Tech. Univ. of Kosice, Kosice, Slovakia (Hosovsky, A.; Mizakova, J.; Pitel, J.)
Abstract	Derivation of models of complex nonlinear systems usually incorporates a number of simplifications in modeled phenomena with the level of these simplifications being dictated primarily by its intended purpose. If the overall model accuracy is insufficient, it might be helpful to use the powerful approximation capabilities of universal approximators like neural networks which are capable of approximating certain types of functions to arbitrary degree of accuracy. On the other hand, using black-box modeling techniques can impair the resulting extrapolation qualities of the model as well as eliminate its physical interpretation. Here an improved dynamic modeling of one-DOF pneumatic muscle actuator using recurrent neural network is proposed. The proposed method preserves the physical meaning of the model while improving its accuracy compared to the original analytic model. System and model responses are compared in closed-loop (using conventional PD controller) and all unmodeled dynamics is treated as disturbance which is identified using Elman neural network It is shown that the resulting model is applicable for model-based control system design with greater precision.
Starting Page	4019
Ending Page	4024
File Size	3215858
Page Count	6
File Format	PDF
ISSN	21614407
e-ISBN	9781479914845
DOI	10.1109/IJCNN.2014.6889785
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Muscles Joints Training Analytical models Mathematical model Approximation methods PD controller pneumatic actuator recurrent neural network disturbance structural dynamics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Dynamics of pneumatic muscle actuator: Measurement and modeling

Antagonistic mono- and bi-articular pneumatic muscle actuator control for gait training system using contraction model

Dynamic simulation of pneumatic muscle actuator in Matlab/Simulink environment

Simulation of fuzzy adaptive position controllers for pneumatic muscle actuator

Design and control of a soft actuator driven by pneumatic muscles

Simulation of actuator dynamics based on geometric model of pneumatic artificial muscle

Dynamic model of pneumatic actuator based on advanced geometric muscle model

Pneumatic muscle actuator position control based on sliding mode control algorithms

Dynamic simulation model of pneumatic actuator with artificial muscle

Improved modeling of pneumatic muscle actuator using recurrent neural network

Similar Documents

Dynamics of pneumatic muscle actuator: Measurement and modeling

Antagonistic mono- and bi-articular pneumatic muscle actuator control for gait training system using contraction model

Dynamic simulation of pneumatic muscle actuator in Matlab/Simulink environment

Simulation of fuzzy adaptive position controllers for pneumatic muscle actuator

Design and control of a soft actuator driven by pneumatic muscles

Simulation of actuator dynamics based on geometric model of pneumatic artificial muscle

Dynamic model of pneumatic actuator based on advanced geometric muscle model

Pneumatic muscle actuator position control based on sliding mode control algorithms

Dynamic simulation model of pneumatic actuator with artificial muscle

Improved modeling of pneumatic muscle actuator using recurrent neural network