Fuzzy adaptive control system actuator with pneumatic artificial muscles with bacterial optimization

摘要

Fuzzy adaptive control system of the actuator with pneumatic artificial muscles and bacterial optimization consists of the block (1) the differential member the position of forming the difference between required and actual position, the block (5) of sensor the position , the block (2) The PD regulator, block (3) times the signal from the PD controller and the adaptive controller block (4) of the actuator with pneumatic artificial muscles, the block (11) of the reference model, generating the reference signal for the desired dynamics of the system, the block (6) the differential member dynamics making the difference of actual values of the response of the reference model and the response of the controlled system, the block (7) the derivative, blocks (8), (9) standardization gain of the block (10) of the adaptive controller, the block (12) integral with the quality criteria, the block (13) initializing the optimization block (14) chemo taxis block (15) images, block (16) and the elimination of the dispersion and the block (17) of optimization.