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Model-Based Robust Tracking Control Without Observers for Soft Bending Actuators

文献类型：期刊论文

作者Cao, Guizhou2; Huo, Benyan2; Yang, Lei2; Zhang, Fangfang2; Liu, Yanhong2; Bian, Guibin1,2
刊名IEEE ROBOTICS AND AUTOMATION LETTERS
出版日期2021-07-01
卷号6期号:3页码:5175-5182
ISSN号2377-3766
关键词Actuators Observers Bending Uncertainty Closed loop systems Presence network agents Mathematical model Robust control soft actuator without observer model-based control
DOI10.1109/LRA.2021.3071952
通讯作者Liu, Yanhong(liuyh@zzu.edu.cn)
英文摘要It is of great importance to improve the performance of soft bending actuators with simpler control laws. Considering that the velocity information of soft actuators cannot be measured by conventional sensors due to a contradiction between the soft body and the rigid state, this letter addresses a robust tracking controller without velocity observers to improve the tracking accuracy and simplify the control laws. First, a generalized dynamic model and related system properties are developed for the construction of controllers. Second, a novel robust tracking controller combined with an auxiliary state is utilized for soft bending actuators in the presence of system uncertainties. A key feature of the proposed controller is that it does not incorporate any information about velocities and observers. Finally, corresponding comparative simulations and experiments are performed to verify the effectiveness of the proposed controller.
WOS关键词JOINT ROBOTS ; DESIGN ; CURVATURE ; SYSTEMS
资助项目National Key Research and Development[2020YFB1313701] ; National Natural Science Foundation of P. R. China[61473265] ; National Natural Science Foundation of P. R. China[61603345] ; National Natural Science Foundation of P. R. China[61374128] ; National Natural Science Foundation of P. R. China[62003309] ; Outstanding Foreign Scientist Support Project of Henan Province[GZS2019008] ; Science and Technology Research Project in Henan Province of China[202102210098]
WOS研究方向Robotics
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:000645056800011
资助机构National Key Research and Development ; National Natural Science Foundation of P. R. China ; Outstanding Foreign Scientist Support Project of Henan Province ; Science and Technology Research Project in Henan Province of China
源URL[http://ir.ia.ac.cn/handle/173211/44554]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Liu, Yanhong
作者单位1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Zhengzhou Univ, Sch Elect Engn, Zhengzhou 450001, Peoples R China
推荐引用方式
GB/T 7714		 Cao, Guizhou,Huo, Benyan,Yang, Lei,et al. Model-Based Robust Tracking Control Without Observers for Soft Bending Actuators[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2021,6(3):5175-5182.
APA Cao, Guizhou,Huo, Benyan,Yang, Lei,Zhang, Fangfang,Liu, Yanhong,&Bian, Guibin.(2021).Model-Based Robust Tracking Control Without Observers for Soft Bending Actuators.IEEE ROBOTICS AND AUTOMATION LETTERS,6(3),5175-5182.
MLA Cao, Guizhou,et al."Model-Based Robust Tracking Control Without Observers for Soft Bending Actuators".IEEE ROBOTICS AND AUTOMATION LETTERS 6.3(2021):5175-5182.

入库方式： OAI收割

来源：自动化研究所

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