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
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
 |
| 出版日期 | 2021-07-01 |
| 卷号 | 6期号:3页码:5175-5182 |
| 关键词 | Actuators Observers Bending Uncertainty Closed loop systems Presence network agents Mathematical model Robust control soft actuator without observer model-based control |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/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 |
| WOS记录号 | WOS:000645056800011 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 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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