B
Bu, Ni
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Robust Control for Hysteretic Microhand Actuator Using Robust Right Coprime Factorization

Abstract

In this article, the robust stability and tracking control of microhand system are researched, wherein the influence of hysteresis characteristics is eliminated, and the tracking accuracy is improved. First, the generalized hysteresis operator is combined with isomorphism to factorize the system, and then controllers are designed to stabilize the hysteretic microhand system. Next, a parallel compensation operator is discussed by combining the right coprime factorization, which eliminates the influence of hysteresis. Furthermore, a terminal sliding mode-parallel compensation-robust right coprime factorization tracking control scheme is proposed, which further reduces the error and improves the tracking accuracy. Finally, the effectiveness of the proposed scheme is verified by simulation results.

article Article
date_range 2024
language English
link Link of the paper
format_quote
B
Bu Ni
Z
Zhang Yingying
Z
Zhang Yuyi
M
Morohoshi Yuuki
D
Deng Mingcong
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Featured Keywords
Hysteresis
Mathematical models
Actuators
Soft robotics
Rubber
Deformable models
Analytical models
Isomorphism
nonlinear system
robust right coprime factorization
terminal sliding mode control
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