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Control of SIMO Systems in Simulation: The Challenge of the Multiple Axes Actuating Pneumatic Arm

by G. P. Smyrnaiou, M. Papoutsidakis, A. Xatzopoulos, D. Tseles
journal cover thumbnail

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 168 - Number 10
Year of Publication: 2017
Authors: G. P. Smyrnaiou, M. Papoutsidakis, A. Xatzopoulos, D. Tseles
10.5120/ijca2017914499

G. P. Smyrnaiou, M. Papoutsidakis, A. Xatzopoulos, D. Tseles . Control of SIMO Systems in Simulation: The Challenge of the Multiple Axes Actuating Pneumatic Arm. International Journal of Computer Applications. 168, 10 ( Jun 2017), 1-7. DOI=10.5120/ijca2017914499

@article{ 10.5120/ijca2017914499,
author = { G. P. Smyrnaiou, M. Papoutsidakis, A. Xatzopoulos, D. Tseles },
title = { Control of SIMO Systems in Simulation: The Challenge of the Multiple Axes Actuating Pneumatic Arm },
journal = { International Journal of Computer Applications },
issue_date = { Jun 2017 },
volume = { 168 },
number = { 10 },
month = { Jun },
year = { 2017 },
issn = { 0975-8887 },
pages = { 1-7 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume168/number10/27908-2017914499/ },
doi = { 10.5120/ijca2017914499 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-07T00:15:44.915475+05:30
%A G. P. Smyrnaiou
%A M. Papoutsidakis
%A A. Xatzopoulos
%A D. Tseles
%T Control of SIMO Systems in Simulation: The Challenge of the Multiple Axes Actuating Pneumatic Arm
%J International Journal of Computer Applications
%@ 0975-8887
%V 168
%N 10
%P 1-7
%D 2017
%I Foundation of Computer Science (FCS), NY, USA
Abstract

In this paper a comparative study of the classical control methods for the testing of a mathematical model, which controls six actuators of a six degrees of freedom robotic arm with a single controller, is illustrated, aiming to the constructive simplification of the system. In more detail, a mathematical model of the system is designed which simulates all mechanical parts, including 5-way directional pneumatic valve, the pneumatic actuators/pistons and the mathematical model of the controller. The purpose of the above is the tuning of a Single Input, Multiple Outputs (SIMO) controller which will direct the motion of the six pneumatic pistons. The thorough analysis of the implementation of the pneumatic system in Matlab/Simulink environment is followed by experimentation and results using Proportional (P), Proportional-Integral (PI), Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) controllers. The simulation results show the advantages of the above classical control methods on the robotic human arm which imitating human motion and made by a well-known company in the field of pneumatic automation.

References
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Index Terms

Computer Science
Information Sciences

Keywords

Single input-multiple output systems pneumatic positioning systems simulation environment PID controller design.

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