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Model-based linear control of nonlinear pneumatic soft bending actuators

Author(s): ORCID
ORCID





ORCID
Medium: journal article
Language(s): English
Published in: Smart Materials and Structures, , n. 4, v. 33
Page(s): 045022
DOI: 10.1088/1361-665x/ad315e
Abstract:

Advanced model-based control techniques hold great promise for the precise control of pneumatic soft bending actuators (PSBAs) with strong nonlinearities. However, most previous controllers were designed in a cumbersome nonlinear form. Considering the simplicity of linear system theory, this paper presents a novel perspective on using model-based linear control to handle nonlinear PSBAs, and for the first time, summarizes two methodologies, global linearization and pseudo-linear construction. Derived from them, Koopman-based and hysteresis-based linear control approaches are proposed, respectively. For the former, a novel fusion prediction equation is developed to build a high-fidelity Koopman model, realizing global linearization, and then the linear model predictive control (MPC) is deployed. For the latter, the inverse of the generalized Prandtl–Ishlinskii (GPI) model cascades with the PSBA to construct a pseudo-linear system, eliminating the asymmetric hysteresis, which activates the linear proportional-integral-derivative (PID) control. It is worth noting that the above two are based on data-driven models adapted to various PSBAs with material and structural customization. Finally, the two model-based linear control approaches are verified and compared through a series of experiments. The results show that the proposed linear controls, with more concise designs, achieve comparable or even superior performance than nonlinear controls.

Copyright: © 2024 Jiajin Wang, Baoguo Xu, Jianwei Lai, Xin Wang, Ye Lu, Cong Hu, Huijun Li, Aiguo Song
License:

This creative work has been published under the Creative Commons Attribution 4.0 International (CC-BY 4.0) license which allows copying, and redistribution as well as adaptation of the original work provided appropriate credit is given to the original author and the conditions of the license are met.

  • About this
    data sheet
  • Reference-ID
    10769238
  • Published on:
    29/04/2024
  • Last updated on:
    05/06/2024
 
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