Modeling and precise tracking control of spatial bending pneumatic soft actuators

Abstract

In recent years, a variety of pneumatic soft actuators (PSAs) have been proposed due to the development of soft robots in biomimetic robots, medical devices, etc. At the same time, the modeling and control of PSAs remains an open question. In this paper, a spatial bending pneumatic soft actuator (SBPSA) modeling method based on the Prandtl-Ishlinskii (PI) model is proposed, and the inverse model is designed to compensate for hysteresis nonlinearity. Furthermore, an adaptive feedback controller combined with a hysteresis compensator is proposed for the precise control and tracking of SBPSAs. Finally, an experimental platform is built, and experimental results demonstrate the effectiveness of the proposed method for precise tracking.

Keywords

Spatial bending / Hysteresis compensation / Prandtl-Ishlinskii modeling / Adaptive feedback control

CRediT authorship contribution statement

Yize Ma: Writing - original draft. Qingxiang Wu: Writing - review & editing. Zehao Qiu: Software. Yongchun Fang: Supervision. Ning Sun: Funding acquisition.

Declaration of competing interest

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

Acknowledgments

This work was supported in part by the National Natural Science Foundation of China (52205019 and 62373198), and in part by the Fundamental Research Funds for the Central Universities (078-63243157).

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