Robust tracking control for uncertain micro-hand actuator with Prandtl-Ishlinskii hysteresis

This article is concerned with the robust tracking control for an uncertain micro-hand actuator with Prandtl-Ishlinskii hysteresis (PI hysteresis) by robust right coprime factorization (RRCF). Firstly, the PI hysteresis is modeled into the rubber micro-hand actuator and a new hysteretic micro-hand system is obtained. Secondly, by compensating the hysteresis part into the isomorphic subspace, the effect of hysteresis on micro-hand system is transferred and the operator-based robust controllers are designed to ensure that the robust stability of the whole system. Thirdly, the RRCF and terminal sliding mode control are combined for tracking control, and the nonsingular terminal sliding mode surface with integral terms is designed, which shorten the convergence time and improve the tracking performance. Finally, the effectiveness of the method is tested by the simulation of the micro-hand system.