Fuzzy self-tuning PID control of hydrogen-driven pneumatic artificial muscle actuator

Thanana Nuchkrua, Thananchai Leephakpreeda*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

48 Scopus citations


In this paper, a fuzzy self-tuning Proportional-Integral-Derivative (PID) control of hydrogen-driven Pneumatic Artificial Muscle (PAM) actuator is presented. With a conventional PID control, non-linear thermodynamics of the hydrogen-driven PAM actuator still highly affects the mechanical actuations itself, causing deviation of desired tasks. The fuzzy self-tuning PID controller is systematically developed so as to achieve dynamic performance targets of the hydrogen-driven PAM actuator. The fuzzy rules based on desired characteristics of closed-loop control are designed to finely tune the PID gains of the controller under different operating conditions. The empirical models and properties of the hydrogen-driven PAM actuator are used as a genuine representation of mechanical actuations. A mass-spring-damper system is applied to the hydrogen-driven PAM actuator as a typical mechanical load during actuations. The results of the implementation show that the viability of the proposed method in actuating the hydrogen-driven PAM under mechanical loads is close to desired performance.

Original languageEnglish
Pages (from-to)329-340
Number of pages12
JournalJournal of Bionic Engineering
Issue number3
StatePublished - Jul 2013
Externally publishedYes


  • Fuzzy tuning
  • Metal hydride
  • PID control
  • Pneumatic muscle
  • Thermoelectric module

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