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This paper propose the design method of 2DOF (two degrees of freedom) PID (Proportional-Integral-Derivative) controller based on MPC (Model predictive control). This controller is called as MP-2DOF PID controller. The method repeatedly optimizes the control parameters for each control period by solving an optimization problem based on the MPC algorithm, while using the 2DOF PID controller structure...
In this article, a 6 Degree-of-Freedom (DOF) parallel manipulator, actuated by Pneumatic Artificial Muscles (PAMs), is being presented. Incorporated in a two Stewart Platform-based design, the novel manipulator's motion capabilities are being examined through kinematic analysis, while the open-loop operation characteristics and performance of the manipulator's control via a multiple PID-based scheme...
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