Experimental validation for pneumatic artificial muscles using fuzzy PID control

With a classic Proportional-Integral-Derivative (PID) control, the trajectory tracking performance is not high because a fixed set of PID parameters does not solve the enhancing performance problem. Therefore, in this paper, a fuzzy PID control (FPIDC) for a PAM is presented to improve the trajectory tracking performance. The efficiency of the proposed controller has been verified by experiment under different conditions.