Isomorphism-based robust right coprime factorization for uncertain nonlinear feedback systems

Jin, Longguo; Bu, Ni; Deng, Mingcong

doi:10.1007/s11432-018-9619-4

Cited by 3 publications

(1 citation statement)

References 9 publications

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“…Moreover, another fundamental problem on RRCF is solved by using isomorphism idea 18,19 . Further, the quantitative design scheme is proposed in Reference 20 as well as the robust schemes 21,22 . Combining with the passivity of robust control property, the RRCF for the UNFS is designed in Reference 23, wherein the robustness and the passivity are, respectively, guaranteed.…”

Section: Introductionmentioning

confidence: 99%

Robust passive tracking control for an uncertain soft actuator using robust right coprime factorization

Liu

2021

Intl J Robust & Nonlinear

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As a research of human arm activities, the research of soft actuator is one of the important topics in the field of robotics. This article is concerned with the robust passive tracking control for an uncertain soft actuator by robust right coprime factorization (RRCF). First, applying the recursive least squares identification algorithm, the identification of the actuator modeling is studied by which the parameter of radius is estimated by using the experimental data. Second, the passivity of the soft actuator with inflatable rubber tube is discussed; meanwhile, the robustness of the soft actuator is ensured by the designed robust controllers. Third, by combining the RRCF and integral sliding mode control methods, the tracking performance is improved, for the soft actuator with time‐varying radius. Finally, the proposed methods are confirmed by the simulation with experimental data.

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