Motion control of an electrostrictive actuator

Hu, Min; Du, Hejun; Ling, Shih‐Fu; Zhou, Zucheng; Li, Yong

doi:10.1016/s0957-4158(03)00016-3

Cited by 33 publications

(20 citation statements)

References 3 publications

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“…Furthermore, various smart materials have been introduced in the fields of biorobotic fins (for example, PZT and SMA [21]- [23], [29]- [31]). The effect of hysteresis nonlinearities have also been presented in these works that include smart materials.…”

Section: Discussionmentioning

confidence: 99%

Evaluating the Fin-Ray Trajectory Tracking of Bio-Inspired Robotic Undulating Fins via an Experimental-Numerical Approach

Xiang

Zhou

et al. 2014

International Journal of Advanced Robotic Systems

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In the past decade, biomimetic undulating fin propulsion has been one of the main topics considered by scientists and researchers in the field of robotic fish. This technology is inspired by the biological wave-like propulsion of ribbon-finned fish. The swimming modes have aquatic application potentials with greater manoeuvrability, less detectable noise or wake and better efficiency at low speeds. The present work concentrates on the evaluation of fin-ray trajectory tracking of biorobotic undulating fins at the levels of kinematics and hydrodynamics by using an experimental-numerical approach. Firstly, fin-ray tracking inconsistence between the desired and actual undulating trajectories is embodied with experimental data of the fin prototype. Next, the dynamics' nonlinearity is numerically and analytically unveiled by using the computational fluid dynamics (CFD) method, from the viewpoint of vortex shedding and the hydro-effect. The evaluation of fin-ray tracking performance creates a good basis for control design to improve the fin-ray undulation of prototypes.

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Section: Discussionmentioning

confidence: 99%

Evaluating the Fin-Ray Trajectory Tracking of Bio-Inspired Robotic Undulating Fins via an Experimental-Numerical Approach

Xiang

Zhou

et al. 2014

International Journal of Advanced Robotic Systems

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“…The latter issue can be addressed by standard ILC methods. For example, the convergence of ILC on a single branch was shown in [19], in which the hysteresis nonlinearity was modeled as a single branch (using a polynomial). Alternatively, a functional approach was proposed for systems that satisfy the incrementally strictly increasing operator (ISIO) property [20]; however, the branching effect in hysteresis results in loss of the ISIO property [9].…”

Section: Introductionmentioning

confidence: 99%

Design of hysteresis-compensating iterative learning control for piezo-positioners: Application to atomic force microscopes

2006

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“…The local convergence of the control input was proved and the algorithm was simulated on a multi-link robotic manipulator model. Hu et al (2004) and Du et al (2005) also proposed Newton-type ILC for the continuous differential, and monotonic system y ¼ F(u) with known or identified F. The Newton-type ILC scheme was derived using Taylor series. The algorithm was applied to an electrostrictive actuator.…”

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confidence: 99%