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Soft actuators, such as pneumatic actuators, have nonlinear characteristics, which are state-dependant. Therefore, it is difficult to control them using conventional linear controllers. In this paper, an intelligent controller based on predictive fuzzy control using a control rule and a forward model is proposed. This model was designed using the current state and the input-output characteristics of the actuator. The effectiveness of the proposed intelligent controller was confirmed experimentally using a pneumatic servo system.