Fuzzy Time Delay Algorithms for Position Control of Soft Robot Actuated by Shape Memory Alloy

Li, Junfeng; Pi, Yunyao

doi:10.1007/s12555-018-0313-5

Cited by 12 publications

(4 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This impedes the SMA from gaining precise position control and position maintenance. This drawback is handled by designing a fuzzy logic algorithm-based study was done in [125] that ensures accurate position control. The diagram or schematic illustrating the algorithm of fuzzy control and practical implementation and experimental setup of the proposed system are shown in figures 14(c) and (d) respectively.…”

Section: Sma-based Actuationsmentioning

confidence: 99%

Decade of bio-inspired soft robots: a review

Ahmed

Waqas

Javed

et al. 2022

Smart Mater. Struct.

View full text Add to dashboard Cite

Soft robotics is an emerging field of robotics that focuses on the design of soft machines and devices with effective human-machine interaction, high conformity, and environmental adaptability. The conventional robots made of hard materials have already achieved precision and accuracy, but they lack in reachability, adaptability, Degree of Freedom (DoF), and safe interaction. Moreover, soft robots mimic the behavior of biological creatures by mimicking their locomotive patterns. The actuation or the locomotion of the soft robots is achieved by soft actuators which are a very important part of soft robotic systems. Herein, a comprehensive review based on the evolution of six actuation methodologies is presented. Various approaches used for the design and fabrication of soft robots such as pneumatic, shape memory alloy (SMA), dielectric elastomers, chemical-reaction enforced, and pneumatic and magneto-rheological elastomers-based actuation methods reported in the last decade. Furthermore, the advancement of these approaches has been rigorously discussed in chronological order for parameters like efficiency, power requirement, frequency, and possible applications. Future challenges and directions toward the advancement in soft robotics are also discussed for achieving the remarkable performance of soft robots in a real-time environment. Furthermore, we believe, this is a complete review package for the young researchers which can help them to understand the evolution of bioinspired robotics.

show abstract

Section: Sma-based Actuationsmentioning

confidence: 99%

Decade of bio-inspired soft robots: a review

Ahmed

Waqas

Javed

et al. 2022

Smart Mater. Struct.

View full text Add to dashboard Cite

show abstract

“…The control system adopts two-level control above and below water, and PID control is performed by smoothing the joint module with multiple interpolation so that the manipulator has better motion and basically realizes the function of the control system. Li et al [47] proposed a method for precise position control of a soft robot based on a fuzzy time lag algorithm. As shown in Figure 3, the SMA wires of different materials are embedded in the structure of the soft robot, and the basic mechanism of the variable stiffness of this actuator relies on SMA filaments.…”

Section: Review Of Impedance Control Mechanisms' Research 221 Mechanicalmentioning

confidence: 99%

A Review of End-Effector Research Based on Compliance Control

Dai

Xiang

et al. 2022

Machines

View full text Add to dashboard Cite

The end-effector is a key device for direct contact and operation between the operator and the workpiece, and its mechanical structure will directly affect the quality of the machine and expand its application. The theoretical research and technical implementation of the end-effector for compliance control are facing a lot of urgent challenges to be solved, therefore, the research results of active compliance control of robot end-effectors have a very broad application prospect. This paper describes the design and research results of different end-effectors under impedance-based control, hybrid force/position control, and intelligent flexible control methods, respectively. Under each control method, the structural characteristics and the optimized control scheme under different drives are introduced. Finally, key techniques for achieving compliance control are derived by summarizing, which broadens the engineering applications and provides methods and ideas for future research.

show abstract

“…Adaptive mechanisms can often contribute to increased complexity too [18]. Also, it is impossible to avoid TDE errors since the microcontroller sampling time sets the minimum value for the time delay [19]. Additionally, noisy measurements and nonlinearity of signals along the sampling time cause a time delay error [20].…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Extended State Observer for Robust Sliding Mode Control of Piezoelectric Actuators

Naghdi,

Izadi

2024

IEEE Access

View full text Add to dashboard Cite

Piezoelectric actuators are widely used in micro and nano-positioning systems for accurate movement. However, they exhibit some nonlinearities, particularly hysteresis, which makes precise control rather challenging. Many methods are available in the literature to compensate for the hysteresis effect in piezoelectric actuators, but often a model of the actuator is required for this purpose. Identification of such a model is challenging too. In this paper, we propose using a robust observer-based controller for precise motion tracking of piezoelectric actuators without the need for a hysteresis model. The controller consists of a fuzzy extended state observer (FESO) to estimate the hysteresis and other nonlinearities, as well as model uncertainties and external disturbances. Subsequently, a robust sliding-mode controller is designed and added to the framework. Joint stability analysis guarantees the stability and tracking performance of the proposed combined controller. Simulation and experimental results confirm the performance of the proposed controller compared to some other techniques.INDEX TERMS precision motion control, piezoelectric actuator, hysteresis, fuzzy extended state observer, sliding mode control VOLUME , 2023

show abstract

Fuzzy Time Delay Algorithms for Position Control of Soft Robot Actuated by Shape Memory Alloy

Cited by 12 publications

References 29 publications

Decade of bio-inspired soft robots: a review

Decade of bio-inspired soft robots: a review

A Review of End-Effector Research Based on Compliance Control

Fuzzy Extended State Observer for Robust Sliding Mode Control of Piezoelectric Actuators

Contact Info

Product

Resources

About