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Session: Classical and Machine methods in flow control I
Session starts: Tuesday 04 November, 10:20
Presentation starts: 10:40
Room: Lecture room B

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Ayaka Kosugi (Graduate School of Engineering and Science, Shibaura Institute of Technology)
Satoshi Tsuruhara (Graduate School of Engineering and Science, Shibaura Institute of Technology)
Kazuhisa Ito (The Department of Machinery and Control Systems, Shibaura Institute of Technology)

Abstract:
McKibben-type artificial muscle has several advantages for practical application; however, it is difficult to control with high precision due to its hysteresis characteristics. For this problem, model-free control (MFC) is a data-driven controller that can handle such a nonlinear system. On the other hand, it shows significant performance deterioration with rapid changes in reference value. In this study, to solve this problem, a time-varying parameter update law, which is a combination of MFC and fuzzy logic, is proposed in this study. The updated parameter plays an important role in MFC, which is a denominator of the control input equation. While the conventional adaptive control method has been widely known to have lower control performance in the transient response, the proposed method allows for designing update laws heuristically, and it is confirmed that it suppresses the overshoot, and maintains the performance in the steady-state response via experimental validation using the tap-water-driven artificial muscle.