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

doi:10.1109/LRA.2021.3071952

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Model-Based Robust Tracking Control Without Observers for Soft Bending Actuators
	Cao, Guizhou 1; Huo, Benyan 1; Yang, Lei 1; Zhang, Fangfang 1; Liu, Yanhong 1; Bian, Guibin 1,2
刊名	IEEE ROBOTICS AND AUTOMATION LETTERS
	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.
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关键词	JOINT ROBOTS ; DESIGN ; CURVATURE ; SYSTEMS
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
内容类型	期刊论文
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.Zhengzhou Univ, Sch Elect Engn, Zhengzhou 450001, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, 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.