Adaptive Nonlinear Sensorless Control for an Uncertain Miniature Pneumatic Curling Rubber Actuator Using Passivity and Robust Right Coprime Factorization

被引：41
|
作者：
Deng, Mingcong [1 ]
Kawashima, Toshihiro [1 ]
机构：
[1] Tokyo Univ Agr & Technol, Grad Sch Engn, Koganei, Tokyo 1848588, Japan
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2016年 / 24卷 / 01期
关键词：
Adaptive control; nonlinear control; passivity; robust right coprime factorization; soft actuator; TRACKING CONTROL; SYSTEMS;
D O I：
10.1109/TCST.2015.2424853
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 brief, an adaptive nonlinear sensorless control for an uncertain miniature pneumatic curling rubber actuator is considered using passivity and the robust right coprime factorization approach. Specially, based on the robust right coprime factorization approach, robust stability is guaranteed and passivity is realized simultaneously. Then, the adaptive control system is designed for tracking performance. Support vector regression is proposed to estimate the output for avoiding the use of a sensor. Finally, the experimental setup is shown and the experimental results are provided to show the effectiveness of the proposed scheme.
引用
收藏
页码：318 / 324
页数：7
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