Implementation of ANN-Based Auto-Adjustable for a Pneumatic Servo System Embedded on FPGA

Artificial intelligence techniques for pneumatic robot manipulators have become of deep interest in industrial applications, such as non-high voltage environments, clean operations, and high power-to-weight ratio tasks. The principal advantages of this type of actuator are the implementation of clean energies, low cost, and easy maintenance. The disadvantages of working with pneumatic actuators are that they have non-linear characteristics. This paper proposes an intelligent controller embedded in a programmable logic device to minimize the non-linearities of the air behavior into a 3-degrees-of-freedom robot with pneumatic actuators. In this case, the device is suitable due to several electric valves, direct current motors signals, automatic controllers, and several neural networks. For every degree of freedom, three neurons adjust the gains for each controller. The learning process is constantly tuning the gain value to reach the minimum of the mean square error. Results plot a more appropriate behavior for a transitive time when the neurons work with the automatic controllers with a minimum mean error of ±1.2 mm.