ロバスト右既約分解およびSVR推定を併用した大湾曲ラバーアクチュエータのセンサレス非線形制御

抄録

In recent years, the research of soft actuators has been getting increased attention. The soft actuators are expected to apply in medical, biological and welfare fields, because they can ensure high safety for fragile objects from their low mechanical impedance. A miniature pneumatic curling rubber actuator is a kind of them. In this paper, an operator-based sensorless robust nonlinear control by using robust right coprime factorization approach and using support vector regression(SVR) estimation for the miniature pneumatic curling rubber actuator is proposed. Considering practical applications in medical and biological fields, sensorless control is recommended. For realization of sesorless control, SVR estimation is used. That is, first, the nonlinear modeling is obtained by using moment balance. Second, the robust nonlinear control system using robust right coprime factorization approach is designed. Finally, experimental results based on SVR estimation results are given to show the effectiveness of the proposed scheme.