|Observer-based Adaptive Robust Control of Soft Pneumatic Network Actuators
Guizhou Cao, Yanhong Liu, and Zhiwei Zhu*
International Journal of Control, Automation, and Systems, vol. 20, no. 5, pp.1695-1705, 2022
Abstract : Fabricated by elastomer materials, soft pneumatic network actuators (PNAs) not only enable versatile applications but also bring challenges to the high-performance control. This study presents new observer-based adaptive robust controllers for PNAs subjected to system uncertainties and unavailable states. First, a sliding patchbased observer and an observer-based controller are addressed for PNAs with known upper bounds, and stability of closed-looped systems is proved by the Lyapunov method. Second, a novel disturbance observer is proposed for the case of prior unknown bounds of uncertainties, and the stability of the closed-looped system controlled by an adaptive robust controller is also analyzed by the Lyapunov method. Finally, the effectiveness of the proposed controllers is verified by simulations and experiments.
Adaptive robust control, disturbance observer, sliding mode control, soft pneumatic network actuator, velocity estimation.