Adaptive backstepping position control of pneumatic anthropomorphic robotic hand

This paper presents a nonlinear adaptive backstepping algorithm for position control of an anthropomorphic robotic hand. The contraction force of PAM actuator has been modeled based on an empirical approach and the overall finger is represented as a nonlinear second order system, taking into account...

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Main Authors:	Farag, Mohannad, Zainul Azlan, Norsinnira
Format:	Article
Language:	English English
Published:	Elsevier Ltd. 2015
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/47732/ http://irep.iium.edu.my/47732/ http://irep.iium.edu.my/47732/ http://irep.iium.edu.my/47732/1/adaptive_backstepping_position_7.pdf http://irep.iium.edu.my/47732/4/47732_Adaptive%20backstepping%20position%20control%20of%20pneumatic_Scopus.pdf

id	iium-47732
recordtype	eprints
spelling	iium-477322017-09-19T10:18:26Z http://irep.iium.edu.my/47732/ Adaptive backstepping position control of pneumatic anthropomorphic robotic hand Farag, Mohannad Zainul Azlan, Norsinnira TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents a nonlinear adaptive backstepping algorithm for position control of an anthropomorphic robotic hand. The contraction force of PAM actuator has been modeled based on an empirical approach and the overall finger is represented as a nonlinear second order system, taking into account the system uncertainty caused by hysteresis phenomenon in PAM actuators. Adaptive backstepping controller has been developed by formulating the estimator of the system uncertainty. To improve the performance of controller, a cascade control system is developed by combining a conventional PID control, as an inner loop controller, with the adaptive back stepping position control as the outer loop of the controller. Finally, a simulation test is conducted to evaluate the performance of the proposed controller. Elsevier Ltd. 2015 Article PeerReviewed application/pdf en http://irep.iium.edu.my/47732/1/adaptive_backstepping_position_7.pdf application/pdf en http://irep.iium.edu.my/47732/4/47732_Adaptive%20backstepping%20position%20control%20of%20pneumatic_Scopus.pdf Farag, Mohannad and Zainul Azlan, Norsinnira (2015) Adaptive backstepping position control of pneumatic anthropomorphic robotic hand. Procedia Computer Science, 76. pp. 161-167. ISSN 1877-0509 http://www.sciencedirect.com/science/article/pii/S1877050915038351 10.1016/j.procs.2015.12.334
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Farag, Mohannad Zainul Azlan, Norsinnira Adaptive backstepping position control of pneumatic anthropomorphic robotic hand
description	This paper presents a nonlinear adaptive backstepping algorithm for position control of an anthropomorphic robotic hand. The contraction force of PAM actuator has been modeled based on an empirical approach and the overall finger is represented as a nonlinear second order system, taking into account the system uncertainty caused by hysteresis phenomenon in PAM actuators. Adaptive backstepping controller has been developed by formulating the estimator of the system uncertainty. To improve the performance of controller, a cascade control system is developed by combining a conventional PID control, as an inner loop controller, with the adaptive back stepping position control as the outer loop of the controller. Finally, a simulation test is conducted to evaluate the performance of the proposed controller.
format	Article
author	Farag, Mohannad Zainul Azlan, Norsinnira
author_facet	Farag, Mohannad Zainul Azlan, Norsinnira
author_sort	Farag, Mohannad
title	Adaptive backstepping position control of pneumatic anthropomorphic robotic hand
title_short	Adaptive backstepping position control of pneumatic anthropomorphic robotic hand
title_full	Adaptive backstepping position control of pneumatic anthropomorphic robotic hand
title_fullStr	Adaptive backstepping position control of pneumatic anthropomorphic robotic hand
title_full_unstemmed	Adaptive backstepping position control of pneumatic anthropomorphic robotic hand
title_sort	adaptive backstepping position control of pneumatic anthropomorphic robotic hand
publisher	Elsevier Ltd.
publishDate	2015
url	http://irep.iium.edu.my/47732/ http://irep.iium.edu.my/47732/ http://irep.iium.edu.my/47732/ http://irep.iium.edu.my/47732/1/adaptive_backstepping_position_7.pdf http://irep.iium.edu.my/47732/4/47732_Adaptive%20backstepping%20position%20control%20of%20pneumatic_Scopus.pdf
first_indexed	2023-09-18T21:07:54Z
last_indexed	2023-09-18T21:07:54Z
_version_	1777411056443850752

Adaptive backstepping position control of pneumatic anthropomorphic robotic hand

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