Sensorless nonlinear control for a miniature pneumatic curling rubber actuator using robust right coprime factorization and SVR estimation

Toshihiro Kawashima, Aihui Wang, Shuichi Wakimoto, Mingcong Deng

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

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 S VR estimation results are given to show the effectiveness of the proposed scheme.

Original languageEnglish
Pages (from-to)1924-1929+9
JournalIEEJ Transactions on Electronics, Information and Systems
Volume133
Issue number10
DOIs
Publication statusPublished - 2013

Keywords

  • Nonlinear control
  • Robust right coprime factorization
  • SVR
  • Sesorless control
  • Soft actuator

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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