Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

PD Controller: Design01:26

PD Controller: Design

175
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
175
Controller Configurations01:22

Controller Configurations

85
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
85
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

82
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
82
PI Controller: Design01:24

PI Controller: Design

196
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
196
PID Controller01:19

PID Controller

95
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
95
Feedback control systems01:26

Feedback control systems

277
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
277

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same journal

Multiphysics Investigation on Thermal Characteristics of Internal Bio-Inspired V-Ribbed Cooling Channels for Outer Rotor PMSM.

Biomimetics (Basel, Switzerland)·2026
Same journal

Smart Logistics Model for Supply Chain Management via Brain-Inspired Geometric Deep Networks.

Biomimetics (Basel, Switzerland)·2026
Same journal

A Systematic Taxonomy of the Sunflower Optimization Algorithm: Variants, Hybridization Strategies, Applications, and Research Directions.

Biomimetics (Basel, Switzerland)·2026
Same journal

Toward a Compositional Theory of Trust in Embodied Intelligence: A QNLP Framework for Modeling Context, Interaction, and Trustworthiness.

Biomimetics (Basel, Switzerland)·2026
Same journal

Empirical Logic for Bio-Inspired Soft Computing: Illustrative Applications in Control Engineering and Cluster Analysis.

Biomimetics (Basel, Switzerland)·2026
Same journal

A Modified Multi-Strategy Dhole Optimization Algorithm and Its Engineering Applications.

Biomimetics (Basel, Switzerland)·2026

Related Experiment Video

Updated: May 31, 2025

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

13.8K

Design of an Adaptive Fixed-Time Fast Terminal Sliding Mode Controller for Multi-Link Robots Actuated by Pneumatic

Hesam Khajehsaeid1, Ali Soltani2, Vahid Azimirad3

  • 1Warwick Manufacturing Group, The University of Warwick, Coventry CV4 7EQ, UK.

Biomimetics (Basel, Switzerland)
|January 24, 2025
PubMed
Summary

A new continuum mechanics model accurately predicts pneumatic artificial muscle (PAM) behavior. This model enables advanced control for PAM-driven robots, achieving faster, more precise movements than existing methods.

Keywords:
continuum mechanicsfast terminalfixed timepneumatic artificial musclesliding mode control

More Related Videos

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.5K
Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
07:09

Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers

Published on: August 17, 2018

9.0K

Related Experiment Videos

Last Updated: May 31, 2025

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

13.8K
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.5K
Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
07:09

Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers

Published on: August 17, 2018

9.0K

Area of Science:

  • Robotics and Control Systems
  • Biomimetics and Artificial Actuation
  • Mechanical Engineering

Background:

  • Pneumatic artificial muscles (PAMs) offer compliant and high force-to-weight ratio actuation, mimicking biological muscles.
  • PAMs are crucial in robotics and prosthetics, but accurate modeling and control remain challenging.
  • Rapid inflation/deflation allows for fast actuation, necessitating precise control strategies.

Purpose of the Study:

  • To develop a continuum mechanics-based model for predicting PAM output parameters, specifically actuation force.
  • To derive a dynamic model for a multi-link PAM-actuated robot manipulator using the developed PAM model.
  • To propose and evaluate an advanced adaptive control strategy for precise trajectory tracking in PAM-driven manipulators.

Main Methods:

  • A continuum mechanics-based model was developed to predict PAM force, validated against experimental data.
  • A dynamic model for a multi-link robot manipulator actuated by PAMs was derived.
  • An adaptive fixed-time fast terminal sliding mode control was proposed and simulated.

Main Results:

  • The continuum mechanics model accurately predicted the mechanical behavior of PAMs.
  • Simulations demonstrated the proposed adaptive controller's superior performance over an adaptive backstepping controller.
  • The proposed controller achieved faster convergence and more precise tracking of desired joint trajectories.

Conclusions:

  • The developed continuum mechanics model provides an efficient prediction of PAM behavior.
  • The proposed adaptive fixed-time fast terminal sliding mode control effectively manages uncertainties and disturbances in PAM-actuated systems.
  • This work advances the control of robotic systems utilizing pneumatic artificial muscles for enhanced performance.