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Control of SIMO Systems in Simulation: The Challenge of the Multiple Axes Actuating Pneumatic Arm

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2017
G. P. Smyrnaiou, M. Papoutsidakis, A. Xatzopoulos, D. Tseles

G P Smyrnaiou, M Papoutsidakis, A Xatzopoulos and D Tseles. Control of SIMO Systems in Simulation: The Challenge of the Multiple Axes Actuating Pneumatic Arm. International Journal of Computer Applications 168(10):1-7, June 2017. BibTeX

	author = {G. P. Smyrnaiou and M. Papoutsidakis and A. Xatzopoulos and D. Tseles},
	title = {Control of SIMO Systems in Simulation: The Challenge of the Multiple Axes Actuating Pneumatic Arm},
	journal = {International Journal of Computer Applications},
	issue_date = {June 2017},
	volume = {168},
	number = {10},
	month = {Jun},
	year = {2017},
	issn = {0975-8887},
	pages = {1-7},
	numpages = {7},
	url = {},
	doi = {10.5120/ijca2017914499},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


In this paper a comparative study of the classical control methods for the testing of a mathematical model, which controls six actuators of a six degrees of freedom robotic arm with a single controller, is illustrated, aiming to the constructive simplification of the system. In more detail, a mathematical model of the system is designed which simulates all mechanical parts, including 5-way directional pneumatic valve, the pneumatic actuators/pistons and the mathematical model of the controller. The purpose of the above is the tuning of a Single Input, Multiple Outputs (SIMO) controller which will direct the motion of the six pneumatic pistons. The thorough analysis of the implementation of the pneumatic system in Matlab/Simulink environment is followed by experimentation and results using Proportional (P), Proportional-Integral (PI), Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) controllers. The simulation results show the advantages of the above classical control methods on the robotic human arm which imitating human motion and made by a well-known company in the field of pneumatic automation.


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Single input-multiple output systems, pneumatic positioning systems, simulation environment, PID controller design.