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

研究成果: Contribution to journalArticle査読

3 被引用数 (Scopus)

抄録

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.

本文言語英語
論文番号8678402
ページ(範囲)2561-2567
ページ数7
ジャーナルIEEE Robotics and Automation Letters
4
3
DOI
出版ステータス出版済み - 7 1 2019

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • 生体医工学
  • 機械工学
  • 制御と最適化
  • 人工知能
  • コンピュータ サイエンスの応用
  • コンピュータ ビジョンおよびパターン認識

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