Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback
| Autor: | Ryo Hayashi, Eitaro Tanaka, Rui Fujino, Toshihira Irisawa, Kenji Tahara, Ken Masuya, Kentaro Takagi, Yamauchi Takuma |
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| Rok vydání: | 2019 |
| Předmět: |
Frequency response
Control and Optimization Estimation theory Computer science Mechanical Engineering Biomedical Engineering Feed forward Rotation around a fixed axis Tracking (particle physics) Computer Science Applications Human-Computer Interaction Artificial Intelligence Control and Systems Engineering Control theory Trajectory Computer Vision and Pattern Recognition Actuator |
| Zdroj: | IEEE Robotics and Automation Letters. 4:2561-2567 |
| ISSN: | 2377-3774 |
| Popis: | In this letter, an angular trajectory tracking controller for a twisted polymeric fiber (TPF) actuator by the combination of a model-based feed-forward and estimated temperature feedback is proposed. TPF actuator is one of the soft actuators that can produce a rotational motion, which is made by twisting a nylon yarn and thermally treating it. Adding a feed-forward controller with a feedback controller makes it possible to reduce a phase lag and realizes a higher frequency response compared with using only the feedback controller when performing a time-dependent trajectory tracking. First, temperature–angle, resistance–temperature, and voltage–temperature models are composed, respectively, and then combined in order to design a feedforward controller. Next, parameter estimation is performed through experiments using the prototype of a rotational actuation module. Finally, trajectory-tracking experiments are conducted using a prototype to demonstrate that the proposed method can improve the tracking performance by reducing the phase lag. |
| Databáze: | OpenAIRE |
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