Experimental Study on Operator-based Nonlinear Control for a Miniature Pneumatic Bending Rubber Actuator by Using PSO-SVR-GGD Method

被引：0
|
作者：
Deng, Mingcong [1 ]
Fujita, Kou [1 ]
Ueno, Keisuke [1 ]
机构：
[1] Tokyo Univ Agr & Technol, Grad Sch Engn, Koganei, Tokyo, Japan
来源：
PROCEEDINGS OF THE 2019 IEEE 16TH INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC 2019) | 2019年
关键词：
Soft actuator; nonlinear control; adaptive control; right coprime factorization; support vector machine; isomorphism; generalized Gaussian kernel; PASSIVITY;
D O I：
10.1109/icnsc.2019.8743308
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A miniature pneumatic bending rubber actuator is one of the soft actuators. Because of simple and small structure, inexpensive price, it has been used as actuator in different fields. Moreover, the actuator should be controlled without sensor due to space limitations for application in medical fields, especially. But it is difficult to control due to its nonliearity and sensorless. In this paper, using isomorphic technique operatorbased sensorless adaptive nonlinear control system considering passivity for the actuator is given. Particle swarm optimization to optimize the parameters of support vector regression with generalized Gaussian distribution kernel(PSO-SVR-GGD) based motion estimation is also proposed. Finally the effectiveness of the proposed method is verified by experimental results.
引用
收藏
页码：317 / 322
页数：6
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