Robust Control for Hysteretic Microhand Actuator Using Robust Right Coprime Factorization

• 成果类型: Article
• 署名作者: Bu, Ni; Zhang, Yingying; Zhang, Yuyi; Morohoshi, Yuuki; Deng, Mingcong
• 署名单位: Qingdao University of Science & Technology; Tokyo University of Agriculture & Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3346988
• 发表日期: 2024
• 页码: 3982-3988
• 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

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.