Kinematic Modeling and Control for an Elephant-Trunk Soft Manipulator Considering Hysteresis DOI
Huai Xiao, Xuzhi Lai, Qingxin Meng

et al.

IEEE Transactions on Industrial Informatics, Journal Year: 2024, Volume and Issue: 20(9), P. 11318 - 11328

Published: May 31, 2024

Soft manipulators have been widely developed due to their manipulation safety, design versatility, and motion dexterity. However, accurate kinematic modeling control of soft are still challenging the complex nonlinear hysteresis in characteristics. This article presents fabrication an elephant-trunk-inspired manipulator (ESM) using pneumatic bellows actuators (PBAs) proposes a method considering hysteresis. The ESM contains three arms claw, while each arm consists four PBAs connected parallel. forward kinematics modeled piecewise constant curvature (PCC) method. model parts: actuator space, configuration task space. To address inability PCC characterize nonlinearity materials, PBA space is Prandtl–Ishlinskii model. inverse derived from its model, on this basis, feedforward controller achieve position ESM. positional workspace analyzed Monte Carlo validity verified experimentally. Position application experiments conducted demonstrate practical

Language: Английский

Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications DOI Creative Commons
Matheus S. Xavier, Charbel Tawk, Ali Zolfagharian

et al.

IEEE Access, Journal Year: 2022, Volume and Issue: 10, P. 59442 - 59485

Published: Jan. 1, 2022

Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow bioinspired design. Their high dexterity safety makes them ideal for applications such as gripping, locomotion, biomedical devices, the environment dynamic sensitive to physical interaction. Pneumatic actuation remains dominant technology in soft due its low cost mass, fast response time, easy implementation. Given significant number of publications over recent years, newcomers even established researchers may have difficulty assessing state art. To address this issue, article summarizes development pneumatic actuators up until date publication. The scope includes design, modeling, fabrication, actuation, characterization, sensing, control, robotic devices. In addition historical overview, there special emphasis on advances novel designs, differential simulators, analytical numerical modeling methods, topology optimization, data-driven control hardware boards, nonlinear estimation techniques. Finally, capabilities limitations discussed directions future research identified.

Language: Английский

Citations

179
Robust Adaptive General Formation Control of a Class of Networked Quadrotor Aircraft DOI
Xiaozheng Jin, Wei‐Wei Che, Zheng‐Guang Wu

et al.

IEEE Transactions on Systems Man and Cybernetics Systems, Journal Year: 2022, Volume and Issue: 52(12), P. 7714 - 7726

Published: April 11, 2022

This article is concerned with the consensus formation control problem of a class networked quadrotor aircraft partially bounded and state-dependent perturbations. A general distributed error model first developed to formulate behavior aircraft. Then, by using adaptive techniques, virtual position strategies are proposed eliminate impacts perturbations, so that following can boundedly track desired trajectory satisfying pattern. Furthermore, based on designed strategies, attitude reference angles constructed further guarantee asymptotically. In terms asymptotic tracking results systems, obtained Lyapunov stability theorem. Numerical simulations carried out verify efficiency as well

Language: Английский

Citations

33
Fuzzy Sliding-Mode Control for Three-Level NPC AFE Rectifiers: A Chattering Alleviation Approach DOI
Hao Lin, Jianxing Liu, Xiaoning Shen

et al.

IEEE Transactions on Power Electronics, Journal Year: 2022, Volume and Issue: 37(10), P. 11704 - 11715

Published: May 10, 2022

Due to the high-performance requirements of power converters in industrial applications, sliding-mode control has drawn extensive research attention for its insensitivity against external disturbances. In order ensure this advantage while suppressing chattering problem caused by discontinuous switching functions, article, a fuzzy (FSMC) strategy consisting three loops is proposed three-phase three-level neutral-point-clamped active front-end rectifiers. tracking loop, an improved super-twisting algorithm enforce errors and reactive bounded regions finite time guarantee transient performance. Next, dc-link voltage regulation error converges region with extended state observer-based FSMC strategy. A simple but efficient proportional-integral controller employed balancing loop reduce difference between two capacitors. The characterized attenuated phenomenon performance, disturbance rejection ability, Experimental results are provided verify effectiveness superiority

Language: Английский

Citations

30
Nonlinear Estimation and Control of Bending Soft Pneumatic Actuators Using Feedback Linearization and UKF DOI
Matheus S. Xavier, Andrew J. Fleming, Yuen Kuan Yong

et al.

IEEE/ASME Transactions on Mechatronics, Journal Year: 2022, Volume and Issue: 27(4), P. 1919 - 1927

Published: March 15, 2022

In this article, we combine nonlinear estimation and control methods for precise bending angle in soft pneumatic actuators driven by a pressure source single low-cost on / xmlns:xlink="http://www.w3.org/1999/xlink">off solenoid valve. First, complete model the actuator is derived, which includes both motion dynamics. An unscented Kalman filter (UKF) used to estimate velocity state noisy measurements from sensor an embedded resistive flex sensor. Then, feedback linearization approach with pole placement linear quadratic regulator (LQR) controllers control. To compensate uncertainties improve reference tracking, integral action incorporated controllers. The closed-loop performance of experimentally evaluated network actuator. simulation experimental results show that UKF provides accurate measurements. demonstrate effectiveness robustness proposed observer-based trajectory tracking.

Language: Английский

Citations

29
Backstepping integral sliding mode control for pneumatic manipulators via adaptive extended state observers DOI Open Access
Ling Zhao, Zhuojun Li, Hongbo Li

et al.

ISA Transactions, Journal Year: 2023, Volume and Issue: 144, P. 374 - 384

Published: Oct. 16, 2023

Language: Английский

Citations

19
Advances in artificial muscles: A brief literature and patent review DOI Creative Commons
Yuan Jing, Fangfang Su,

Yu Xiaona

et al.

Frontiers in Bioengineering and Biotechnology, Journal Year: 2023, Volume and Issue: 11

Published: Jan. 19, 2023

Background: Artificial muscles are an active research area now. Methods: A bibliometric analysis was performed to evaluate the development of artificial based on papers and patents. detailed overview muscles' scientific technological innovation presented from aspects productive countries/regions, institutions, journals, researchers, highly cited papers, emerging topics. Results: 1,743 1,925 patents were identified after retrieval in Science Citation Index-Expanded (SCI-E) Derwent Innovations Index (DII). The results show that China, United States, Japan leading muscles. University Wollongong has most publications Spinks is author muscle research. Smart Materials Structures journal this field. science, mechanical automation, robotics three fields related most. Types like pneumatic (PAMs) dielectric elastomer actuator (DEA) maturing. Shape memory alloy (SMA), carbon nanotubes (CNTs), graphene, other novel materials have shown promising applications Conclusion: Along with new processes, researchers paying more attention performance improvement cost reduction

Language: Английский

Citations

15
Autonomous steering control for tunnel boring machines DOI
Zhe Zheng,

Kaidi Luo,

X.-L. Tan

et al.

Automation in Construction, Journal Year: 2024, Volume and Issue: 159, P. 105259 - 105259

Published: Jan. 12, 2024

Language: Английский

Citations

5
Non‐Fragile Adaptive Sliding Tracking Control for a Nonlinear Uncertain Robotic System With Unknown Actuator Nonlinearities DOI
Shubo Liu, Zhi Li,

Xianxi Luo

et al.

International Journal of Robust and Nonlinear Control, Journal Year: 2025, Volume and Issue: unknown

Published: April 10, 2025

ABSTRACT This article proposes non‐fragile adaptive sliding tracking control strategies for a class of nonlinear uncertain robotic systems subject to unknown actuator nonlinearities and controller perturbations. Firstly, mathematical model robot with is established. Secondly, the integral surface (NHISS) function pseudo‐singular (PNHISS) are developed, sufficient conditions existence performance derived based on equivalent schemes. Furthermore, proposed functions, fixed‐gain (NFGA) control, basis linear matrix inequality (LMI), parameter‐varying (NPVA) using sum‐of‐squares (SOS), designed correspondingly, closed‐loop system stability analyzed Lyapunov approach. Finally, simulation experiment results included illustrate effectiveness, non‐fragility, strong robustness strategies.

Language: Английский

Citations

0
Constrained Motion Control of an Electro- Hydraulic Actuator Under Multiple Time-Varying Constraints DOI
Bobo Helian, Zheng Chen, Bin Yao

et al.

IEEE Transactions on Industrial Informatics, Journal Year: 2023, Volume and Issue: 19(12), P. 11878 - 11888

Published: March 8, 2023

The motion control technology of electro-hydraulic actuators has great significance in industrial applications. Constraints significantly limit the performance actuator control, addition to inherent nonlinearities and uncertainties systems. constraints comprise kinematic dynamic constraints, they can be time-varying owing variations system. If are not fulfilled, accuracy may adversely affected, for instance by vibration, cavitation, or even instability. This study proposes a constrained strategy variable-speed pump-driven hydraulic actuator. To robustly track desired trajectory under combines nonlinear filter-type planning an adaptive robust controller. is designed considering system, it synthesizes that reaches given reference minimum time while fulfilling these multiple constraints. Meanwhile, controller tracks synthesized with guaranteed presence In addition, assignments adjusted real time, which further optimize performance. Comparative experiments various references were conducted verify advantages proposed strategy.

Language: Английский

Citations

12
Adaptive fuzzy sliding mode control of an actuator powered by two opposing pneumatic artificial muscles DOI Creative Commons
Minh Duc Duong,

Quang-Thuyet Pham,

Tuan-Chien Vu

et al.

Scientific Reports, Journal Year: 2023, Volume and Issue: 13(1)

Published: May 22, 2023

Pneumatic artificial muscle (PAM) is a potential actuator in human-robot interaction systems, especially rehabilitation systems. However, PAM nonlinear with uncertainty and considerable delay characteristics, making control challenging. This study presents discrete-time sliding mode approach combined the adaptive fuzzy algorithm (AFSMC) to deal unknown disturbance of PAM-based actuator. The developed logic system has parameter vectors component rules that are automatically updated by an law. Consequently, can reasonably approximate disturbance. When operating multi-scenario studies, experimental results confirm efficiency proposed strategy.

Language: Английский

Citations

12