Observer-based continuous adaptive sliding mode control for soft actuators
| Autor: | Fangfang Zhang, Yanhong Liu, Gui-Bin Bian, Yichen Jiang, David H. Owens, Guizhou Cao |
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| Rok vydání: | 2021 |
| Předmět: |
Lyapunov function
Observer (quantum physics) Computer science Applied Mathematics Mechanical Engineering Terminal sliding mode Aerospace Engineering Ocean Engineering 01 natural sciences Sliding mode control Computer Science::Robotics symbols.namesake Control and Systems Engineering Control theory Robustness (computer science) 0103 physical sciences symbols Robot Electrical and Electronic Engineering Actuator 010301 acoustics |
| Zdroj: | Nonlinear Dynamics. 105:371-386 |
| ISSN: | 1573-269X 0924-090X |
| Popis: | Fabricated by high elastic materials, soft actuators provide a prominent solution for soft rehabilitation gloves, soft graspers and locomotion robots. However, the control of soft actuators is a grant challenge due to dynamic modeling error and unavailable system states. This paper proposes an observer-based continuous adaptive sliding mode controller for soft actuators in the presence of system uncertainties without knowledge of its upper bound in prior. By exploiting a novel nonsingular fast terminal sliding mode (NFTSM) surface and a high-order sliding mode (HOSM) observer, the proposed control scheme features adaptive-tuning gains, continuity, singularity-free, stronger robustness and higher tracking accuracy. The stability of the proposed controller is analyzed by the Lyapunov method. Corresponding comparative simulations and experiments of a soft pneumatic network actuator verify the effectiveness and related features of the proposed controller. |
| Databáze: | OpenAIRE |
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