This paper proposes a non-contacted CCD to replace contacted displacement sensors in a two-dimensional (2D) pneumatic arm control system. The CCD is used to capture images which are then transformed to X-Y coordinates that are used as feedback signals. Since the measuring process requires considerable computational effort a self-organizing sliding mode fuzzy controller is proposed to simplify the fuzzy rules and reduce the computer load. The proposed learning mechanism can be used to optimize the fuzzy rules online and improve the control performance. Experimental data is provided on the trajectory tracking performances of the CCD-based and encoder-based 2D pneumatic arms.
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