基于积分鲁棒控制策略的气动柔性驱动器轨迹跟踪研究

Research on Pneumatic Soft Actuator Motion Tracking with RISE-based Control Strategy

软体机器人由于其固有的轻量性和柔顺性,在各个领域受到越来越多的关注,具有广阔的应用前景。另一方面,它具有复杂的结构和非线性特性,给系统建模和控制器设计带来了困难。综合比例阀模型和柔性驱动器的辨识模型,得出总体系统控制模型,设计可实现高精度跟踪的积分鲁棒控制器。通过对柔性驱动器进行轨迹跟踪的对比实验,验证了模型和控制策略的有效性。

Soft robot,although having increasingly received attention in various fields for its wide application prospect due to its inherent high flexibility and compliance,is featured with complex structure and nonlinear dynamics which causes difficulty in system modelling and controller designing.Therefore,a general system control model is proposed by synthesizing the proportional valve model and the soft actuator identification model,and a RISE-based controller is designed to achieve high-precision tracking performance.Comparative experimental results from the motion tracking of the soft actuator verify the effectiveness of the model and the control strategy.