An Adaptive Parallel Fuzzy And Proportional Integral Controller (APFPIC) For The Contractor Pneumatic Muscle Actuator Position Control

Soft robots represent an emerging generation in the robotics research field, these soft robots operate by employing the pneumatic muscle actuator (PMA). Controlling the PMA is a big issue and represents a more complex problem because of the hysteresis behavior and the nonlinearity. So this article proposes a novel adaptive parallel combination of a fuzzy logic controller (FLC) with the conventional proportional-integral (PI) controller; the adaptive parallel fuzzy - proportional-integral controller (APFPIC) shows more adaptability and compliance in response tracking. By utilizing the intelligence embedded in the FLC, an enhancement of the PI controller performance was realized, and a more robust and adaptive control system was obtained.