An Extended Kalman Filter as an Observer in a Control Structure for Health Monitoring of a Metal-Polymer Hybrid Soft Actuator
An Extended Kalman Filter as an Observer in a Control Structure for Health Monitoring of a Metal-Polymer Hybrid Soft Actuator
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DOI：
10.1109/tmech.2018.2792321
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发表时间：
2018-06-01
影响因子：
6.4
通讯作者：
Mercorelli, Paolo
中科院分区：
文献类型：
--
作者：
Schimmack, Manuel;Haus, Benedikt;Mercorelli, Paolo
本文提出了一种创新的非线性模型的自感知软执行器和开关扩展卡尔曼滤波器，它被用作观测器的健康监测，如虚拟传感器。硬件在环仿真和测量证明了观测策略的正确性。提出了一种基于离散小波包变换的自适应位置控制结构。刺激响应聚合物与软致动器背景下的智能系统（能够感测和致动）的实现相关，例如，在仿生机器人技术、矫形器和假肢技术中。健康监测技术的实时实施对于保证软致动器在存在负载的情况下的温和、无故障操作是重要的。所提出的情况下，微机器人的应用和测量结果表明，所开发的观测器的有效性，软致动器的温度，以保证其寿命。后者对于没有测试台的正常操作是必要的，因为状态不能被测量，但是它们需要被知道以实现所提出的健康监测算法。
This paper presents an innovative nonlinear model of a self-sensing soft actuator and a switching extended Kalman filter, which is used as an observer for health monitoring such as a virtual sensor. Hardware-in-the-loop simulations and measurements justify the observation strategy. An adaptive position control structure based on the discrete wavelet packets transform method is proposed. Stimulus-responsive polymers are relevant for the realization of smart systems (capable of both sensing and actuating) in the context of soft actuators, for example, in bioinspired robotics, orthotic, and prosthetic technology. A real-time implementation of health monitoring techniques is important to guarantee a gentle, fault-free operation of the soft actuator in the presence of loads. The presented case shows a microrobotic application and measured results show the effectiveness of the developed observer regarding the soft actuator temperature to guarantee its longevity. The latter is necessary for normal operation without a test bench, because the states cannot be measured, but they need to be known for the implementation of the proposed health monitoring algorithms.