{"product_id":"ieej-20251224c01201-007","title":"Support Vector Regression and Robust Right Coprime Factorization Based Nonlinear Internal Model Control Design for Soft Robotic Finger","description":"\u003cp\u003e\u003cstrong\u003eカテゴリ：\u003c\/strong\u003e研究会(論文単位)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e論文No：\u003c\/strong\u003eCT25120\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eグループ名：\u003c\/strong\u003e【C】電子・情報・システム部門 制御研究会\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e発行日：\u003c\/strong\u003e2025\/12\/24\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eタイトル(英語)：\u003c\/strong\u003eSupport Vector Regression and Robust Right Coprime Factorization Based Nonlinear Internal Model Control Design for Soft Robotic Finger\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名：\u003c\/strong\u003eAn Zizhen(東京農工大学),鄧 明聡(東京農工大学)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名(英語)： \u003c\/strong\u003eZizhen An(Tokyo University of Agriculture and Technology),Mingcong Deng(Tokyo University of Agriculture and Technology)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eキーワード：\u003c\/strong\u003eソフトロボットアクチュエータ,オペレータ,ＳＶＲ,非線形制御,ロバスト既約分解,ロバスト制御,Soft robotic finger,operator,Support Vector Regression,nonlinear control,robust coprime factorization,robust control\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(日本語)：\u003c\/strong\u003eA new control design is proposed in this paper to address the practical implementation of SVR based learning plants considering both stability and tracking performance. Specifically, in this design framework, robust right coprime factorization is selected to stabilize the learning plants from a perspective of input\/output mapping rather than mathematical formulation. Additionally, while the stabilized learning plant is explored by RRCF, desired tracking performance is realized by an operator based nonlinear internal model control (IMC) design. Eventually, practical application on a soft robotic finger system is conducted, which indicates the better performance of using the controlled SVR based learning plant and the feasibility of the proposed framework.\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(英語)：\u003c\/strong\u003eA new control design is proposed in this paper to address the practical implementation of SVR based learning plants considering both stability and tracking performance. Specifically, in this design framework, robust right coprime factorization is selected to stabilize the learning plants from a perspective of input\/output mapping rather than mathematical formulation. Additionally, while the stabilized learning plant is explored by RRCF, desired tracking performance is realized by an operator based nonlinear internal model control (IMC) design. Eventually, practical application on a soft robotic finger system is conducted, which indicates the better performance of using the controlled SVR based learning plant and the feasibility of the proposed framework.\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e本誌：\u003c\/strong\u003e\u003ca href=\"\/products\/IEEJ-20251224C01201\"\u003e2025年12月27日制御研究会\u003c\/a\u003e\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e本誌掲載ページ：\u003c\/strong\u003e37-42p\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e原稿種別：\u003c\/strong\u003e英語\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003ePDFファイルサイズ：\u003c\/strong\u003e1,580Kバイト\u003c\/p\u003e","brand":"IEEJ-P10","offers":[{"title":"冊子印刷（一般価格660円\/会員価格440円） \/ A4 \/ 6","offer_id":47295074468079,"sku":"IEEJ-20251224C01201-007-PRT","price":660.0,"currency_code":"JPY","in_stock":true},{"title":"PDFダウンロード（一般価格330円\/会員価格220円） \/ A4 \/ 6","offer_id":47295074500847,"sku":"IEEJ-20251224C01201-007-PDF","price":330.0,"currency_code":"JPY","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0718\/9512\/2159\/files\/IEEJ-KENKYUKAI_493921a4-5a16-4746-a164-ae750bccc211.png?v=1765779911","url":"https:\/\/ieej.bookpark.ne.jp\/products\/ieej-20251224c01201-007","provider":"電気学会 電子図書館","version":"1.0","type":"link"}