Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback

Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Rui Fujino, Takuma Yamauchi, Eitaro Tanaka, Kenji Tahara

Research output: Contribution to journalArticle

Abstract

In this letter, an angular trajectory tracking controller for a twisted polymeric fiber (TPF) actuator by the combination of a model-based feed-forward and estimated temperature feedback is proposed. TPF actuator is one of the soft actuators that can produce a rotational motion, which is made by twisting a nylon yarn and thermally treating it. Adding a feed-forward controller with a feedback controller makes it possible to reduce a phase lag and realizes a higher frequency response compared with using only the feedback controller when performing a time-dependent trajectory tracking. First, temperature-angle, resistance-temperature, and voltage-temperature models are composed, respectively, and then combined in order to design a feedforward controller. Next, parameter estimation is performed through experiments using the prototype of a rotational actuation module. Finally, trajectory-tracking experiments are conducted using a prototype to demonstrate that the proposed method can improve the tracking performance by reducing the phase lag.

Original languageEnglish
Article number8678402
Pages (from-to)2561-2567
Number of pages7
JournalIEEE Robotics and Automation Letters
Volume4
Issue number3
DOIs
Publication statusPublished - Jul 1 2019

Fingerprint

Trajectory Tracking
Feedforward
Actuator
Actuators
Trajectories
Fiber
Model-based
Feedback
Controller
Angle
Controllers
Fibers
Phase-lag
Temperature
Prototype
Frequency Response
Parameter estimation
Frequency response
Experiment
Yarn

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Biomedical Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

Cite this

Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback. / Hayashi, Ryo; Masuya, Ken; Takagi, Kentaro; Irisawa, Toshihira; Fujino, Rui; Yamauchi, Takuma; Tanaka, Eitaro; Tahara, Kenji.

In: IEEE Robotics and Automation Letters, Vol. 4, No. 3, 8678402, 01.07.2019, p. 2561-2567.

Research output: Contribution to journalArticle

Hayashi, Ryo ; Masuya, Ken ; Takagi, Kentaro ; Irisawa, Toshihira ; Fujino, Rui ; Yamauchi, Takuma ; Tanaka, Eitaro ; Tahara, Kenji. / Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback. In: IEEE Robotics and Automation Letters. 2019 ; Vol. 4, No. 3. pp. 2561-2567.
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