Adapting to Flexibility: Model Reference Adaptive Control of Soft Bending Actuators
Adapting to Flexibility: Model Reference Adaptive Control of Soft Bending Actuators
复制标题
柔性适应：柔性弯曲执行器的模型参考自适应控制
DOI：
10.1109/lra.2017.2655572
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发表时间：
2017-04-01
影响因子：
5.2
通讯作者：
Onal, Cagdas D.
中科院分区：
文献类型：
--
作者：
Skorina, Erik H.;Luo, Ming;Onal, Cagdas D.
软气动执行器使机器人能够安全地与复杂的环境进行交互，但通常会受到不精确的控制和不可预测的动态影响。这封信通过使用模型参考自适应控制来解决这些挑战，模型参考自适应控制调制工厂的输入，以确保其行为类似于参考动态模型。我们使用自适应控制来标准化软执行器的性能，并消除其非线性行为。我们实现了一个自适应控制器选择其简单性和效率，并研究了这种控制器的能力，迫使不同的软气动执行器在各种条件下表现一致。接下来，我们制定了一个逆动态前馈控制器，允许软执行器快速跟随参考轨迹。我们测试的前馈控制器的性能，并没有自适应控制器，研究其开环的有效性和突出的自适应控制器提供的改进。我们的实验结果表明，软致动器可以通过使用所提出的自适应控制方法跟随非结构化的连续信号。
Soft pneumatic actuators enable robots to interact safely with complex environments, but often suffer from imprecise control and unpredictable dynamics. This letter addresses these challenges through the use of model reference adaptive control, which modulates the input to the plant to ensure that it behaves similarly to a reference dynamic model. We use adaptive control to standardize the performance of soft actuators and eliminate their nonlinear behavior. We implement an adaptive controller chosen for its simplicity and efficiency, and study the ability of this controller to force different soft pneumatic actuators to behave uniformly under a variety of conditions. Next, we formulate an inverse dynamic feedforward controller, allowing soft actuators to quickly follow reference trajectories. We test the performance of the proposed feedforward controller with and without the adaptive controller, to study its open-loop effectiveness and highlight the improvements the adaptive controller offers. Our experimental results indicate that soft actuators can follow unstructured continuous signals through the use of the proposed adaptive control approach.