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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.

Keyword : Adaptive robust control, disturbance observer, sliding mode control, soft pneumatic network actuator, velocity estimation.

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