Robust Control for Hysteretic Microhand Actuator Using Robust Right Coprime Factorization

被引：2

作者：

Bu, Ni ^{[1
]}

Zhang, Yingying ^{[1
]}

Zhang, Yuyi ^{[1
]}

Morohoshi, Yuuki ^{[2
]}

Deng, Mingcong ^{[2
]}

机构：

[1] Qingdao Univ Sci & Technol, Coll Automat & Elect Engn, Qingdao 266061, Peoples R China

[2] Tokyo Univ Agr & Technol, Grad Sch Engn, Koganei 1848588, Japan

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2024年 / 69卷 / 06期

基金：

中国国家自然科学基金;

关键词：

Hysteresis; Mathematical models; Actuators; Soft robotics; Rubber; Deformable models; Analytical models; Isomorphism; nonlinear system; robust right coprime factorization; terminal sliding mode control; NONLINEAR-SYSTEMS; INVERSION; OPERATOR; DESIGN; MANIPULATOR; PASSIVITY;

D O I：

10.1109/TAC.2023.3346988

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, the robust stability and tracking control of microhand system are researched, wherein the influence of hysteresis characteristics is eliminated, and the tracking accuracy is improved. First, the generalized hysteresis operator is combined with isomorphism to factorize the system, and then controllers are designed to stabilize the hysteretic microhand system. Next, a parallel compensation operator is discussed by combining the right coprime factorization, which eliminates the influence of hysteresis. Furthermore, a terminal sliding mode-parallel compensation-robust right coprime factorization tracking control scheme is proposed, which further reduces the error and improves the tracking accuracy. Finally, the effectiveness of the proposed scheme is verified by simulation results.

引用

页码：3982 / 3988

页数：7

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