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
JournalIEEJ Transactions on Electronics, Information and Systems
Volume133
Issue number10
DOIs
Publication statusPublished - 2013

Fingerprint

Factorization
Pneumatics
Rubber
Actuators
Nonlinear control systems

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

@article{9a9555431b814679a2b9eb5943f7f0cb,
title = "Sensorless nonlinear control for a miniature pneumatic curling rubber actuator using robust right coprime factorization and SVR estimation",
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.",
keywords = "Nonlinear control, Robust right coprime factorization, Sesorless control, Soft actuator, SVR",
author = "Toshihiro Kawashima and Aihui Wang and Shuichi Wakimoto and Mingcong Deng",
year = "2013",
doi = "10.1541/ieejeiss.133.1924",
language = "English",
volume = "133",
journal = "IEEJ Transactions on Electronics, Information and Systems",
issn = "0385-4221",
publisher = "The Institute of Electrical Engineers of Japan",
number = "10",

}

TY - JOUR

T1 - Sensorless nonlinear control for a miniature pneumatic curling rubber actuator using robust right coprime factorization and SVR estimation

AU - Kawashima, Toshihiro

AU - Wang, Aihui

AU - Wakimoto, Shuichi

AU - Deng, Mingcong

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - Nonlinear control

KW - Robust right coprime factorization

KW - Sesorless control

KW - Soft actuator

KW - SVR

UR - http://www.scopus.com/inward/record.url?scp=84887260843&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84887260843&partnerID=8YFLogxK

U2 - 10.1541/ieejeiss.133.1924

DO - 10.1541/ieejeiss.133.1924

M3 - Article

AN - SCOPUS:84887260843

VL - 133

JO - IEEJ Transactions on Electronics, Information and Systems

JF - IEEJ Transactions on Electronics, Information and Systems

SN - 0385-4221

IS - 10

ER -