Model-based linear control of nonlinear pneumatic soft bending actuators
Jiajin Wang,
Baoguo Xu,
Jianwei Lai
et al.
Abstract:Advanced model-based control techniques hold great promise for the precise control of pneumatic soft bending actuators (PSBAs) with strong nonlinearities. However, most previous controllers were designed in a cumbersome nonlinear form. Considering the simplicity of linear system theory, this paper presents a novel perspective on using model-based linear control to handle nonlinear PSBAs, and for the first time, summarizes two methodologies, global linearization and pseudo-linear construction. Derived from them… Show more
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