Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control
This study presents a method for improving the precision of pneumatic pressure regulation and control in a finger of a tri-finger pneumatic grasper (TPG) robot. The method employs finite time and convergence prescribed performance control (FTC-PPC) in conjunction with proportional, integral, and der...
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| Format: | Article |
| Language: | English |
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SIGMA BOT
2023
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| Online Access: | http://umpir.ump.edu.my/id/eprint/38608/ http://umpir.ump.edu.my/id/eprint/38608/1/Pressure%20Regulation%20on%20A%20Single%20Finger%20of%20Tri-Finger%20Pneumatic%20Grasper%20Robot%20using%20Finite%20Time%20and%20Convergence%20Prescribed%20Performance%20Control.pdf |
| _version_ | 1848825551178956800 |
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| author | Addie Irawan, Hashim Mohd Iskandar Putra, Azahar Mohd Syakirin, Ramli |
| author_facet | Addie Irawan, Hashim Mohd Iskandar Putra, Azahar Mohd Syakirin, Ramli |
| author_sort | Addie Irawan, Hashim |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This study presents a method for improving the precision of pneumatic pressure regulation and control in a finger of a tri-finger pneumatic grasper (TPG) robot. The method employs finite time and convergence prescribed performance control (FTC-PPC) in conjunction with proportional, integral, and derivative (PID) control as a strategy to overcome the nonlinearity and uncertainties of pressure regulation of the pneumatic system in the TPG. Besides finite-time tuning, the proposed PPC formulation also introduced convergence rate and domain. To test the method, several experiments were conducted using a 5/3-way pneumatic proportional valve (PPV) configuration with pressure transducers for feedback responses. Two different pressure input patterns, a step, and periodic in-put patterns were used in the experiments. The results show that the proposed controller outperformed the PID as well as the finite-time PPC with PID from the previous works in regulating the pressure for a finger of the TPG by average. 10% in terms of minimizing overshoot, suppressing oscillations, and providing a fast response. |
| first_indexed | 2025-11-15T03:30:43Z |
| format | Article |
| id | ump-38608 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T03:30:43Z |
| publishDate | 2023 |
| publisher | SIGMA BOT |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-386082023-10-26T03:21:19Z http://umpir.ump.edu.my/id/eprint/38608/ Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control Addie Irawan, Hashim Mohd Iskandar Putra, Azahar Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering This study presents a method for improving the precision of pneumatic pressure regulation and control in a finger of a tri-finger pneumatic grasper (TPG) robot. The method employs finite time and convergence prescribed performance control (FTC-PPC) in conjunction with proportional, integral, and derivative (PID) control as a strategy to overcome the nonlinearity and uncertainties of pressure regulation of the pneumatic system in the TPG. Besides finite-time tuning, the proposed PPC formulation also introduced convergence rate and domain. To test the method, several experiments were conducted using a 5/3-way pneumatic proportional valve (PPV) configuration with pressure transducers for feedback responses. Two different pressure input patterns, a step, and periodic in-put patterns were used in the experiments. The results show that the proposed controller outperformed the PID as well as the finite-time PPC with PID from the previous works in regulating the pressure for a finger of the TPG by average. 10% in terms of minimizing overshoot, suppressing oscillations, and providing a fast response. SIGMA BOT 2023-09 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/38608/1/Pressure%20Regulation%20on%20A%20Single%20Finger%20of%20Tri-Finger%20Pneumatic%20Grasper%20Robot%20using%20Finite%20Time%20and%20Convergence%20Prescribed%20Performance%20Control.pdf Addie Irawan, Hashim and Mohd Iskandar Putra, Azahar and Mohd Syakirin, Ramli (2023) Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control. Przegląd Elektrotechniczny, 2023 (9). pp. 98-103. ISSN 0033-2097. (Published) https://pe.org.pl/articles/2023/9/18.pdf |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Addie Irawan, Hashim Mohd Iskandar Putra, Azahar Mohd Syakirin, Ramli Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control |
| title | Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control |
| title_full | Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control |
| title_fullStr | Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control |
| title_full_unstemmed | Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control |
| title_short | Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control |
| title_sort | pressure regulation on a single finger of tri-finger pneumatic grasper robot using finite time and convergence prescribed performance control |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/38608/ http://umpir.ump.edu.my/id/eprint/38608/ http://umpir.ump.edu.my/id/eprint/38608/1/Pressure%20Regulation%20on%20A%20Single%20Finger%20of%20Tri-Finger%20Pneumatic%20Grasper%20Robot%20using%20Finite%20Time%20and%20Convergence%20Prescribed%20Performance%20Control.pdf |