Right Coprime Factorization-Based Simultaneous Control of Input Hysteresis and Output Disturbance and Its Application to Soft Robotic Finger
Zizhen An,
Mingcong Deng,
Yuuki Morohoshi
Abstract:In a nonlinear control system, hysteresis exists usually as common characteristics. In addition, external output disturbances like modelling error, machine friction and so on also occur frequently. Both of them are considered to cause instability and unsatisfactory performance. In this paper, a practical nonlinear control system design is proposed so as to achieve the simultaneous control of input hysteresis and output disturbance. The system is based on RCF (right coprime factorization theory). Additionally, … Show more
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