オペレータ理論に基づくマイクロ柔軟アクチュエータのSVRを用いたセンサレス適応制御

カテゴリ: 部門大会

論文No: TC8-3

グループ名: 【C】平成30年電気学会電子・情報・システム部門大会プログラム

発行日: 2018/09/05

タイトル(英語): Operator-based Sensorless Adaptive Control for a Miniature Flexible Actuator Using Support Vector Regression

著者名: 上野 敬介(東京農工大学),鄧 明聡(東京農工大学),須谷 瑞樹(東京農工大学),野下 裕市(東京農工大学)

著者名(英語): Keisuke Ueo|Mingcong Deng|Mizuki Sudani|Yuichi Noge

キーワード: オペレータ理論|非線形制御|SVR|適応制御|operator theory|nonlinear control|support vector regression|adaptive control

要約(日本語): Recently, soft actuators are getting increased attention among various fields. A micro-hand is a kind of soft actuators driven by pneumatic pressure. It has bellows-shaped structure and nonlinearity. In the previous research, adaptive lambda-tracking control has been proposed. However, control gain can become too large as time tends to infinity because this adaptive law exhibit a non-decrease gain. In this paper, sensorless nonlinear adaptive control for a miniature flexible actuator by using funnel control and SVR(Support Vector Regression) is proposed and the validity of proposed adaptive law is verified.

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