ロバスト右既約分解およびSVR推定を併用した大湾曲ラバーアクチュエータのセンサレス非線形制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2013/10/01

タイトル(英語): Sensorless Nonlinear Control for A Miniature Pneumatic Curling Rubber Actuator Using Robust Right Coprime Factorization and SVR Estimation

著者名: 川島　敏弘（東京農工大学大学院 工学府 電気電子工学専攻），Aihui Wang（東京農工大学大学院 工学府 電気電子工学専攻），脇元　修一（岡山大学異分野融合先端研究コア），〓　明聡（東京農工大学大学院 工学府 電気電子工学専攻）

著者名(英語): Toshihiro Kawashima (Graduate School of Engineering, Tokyo University of Agriculture and Technology), Aihui Wang (Graduate School of Engineering, Tokyo University of Agriculture and Technology), Shuichi Wakimoto (Research Core for Interdisciplinary Sciences, Okayama University), Mingcong Deng (Graduate School of Engineering, Tokyo University of Agriculture and Technology)

キーワード: ソフトアクチュエータ，非線形制御，センサレス制御，SVR，ロバスト右既約分解　　soft actuator，nonlinear control，sesorless control，SVR，robust right coprime factorization

要約(英語): In recent years, the research of soft actuators has been getting increased attention. The soft actuators are expected to apply in medical, biological and welfare fields, because they can ensure high safety for fragile objects from their low mechanical impedance. A miniature pneumatic curling rubber actuator is a kind of them. In this paper, an operator-based sensorless robust nonlinear control by using robust right coprime factorization approach and using support vector regression(SVR) estimation for the miniature pneumatic curling rubber actuator is proposed. Considering practical applications in medical and biological fields, sensorless control is recommended. For realization of sesorless control, SVR estimation is used. That is, first, the nonlinear modeling is obtained by using moment balance. Second, the robust nonlinear control system using robust right coprime factorization approach is designed. Finally, experimental results based on SVR estimation results are given to show the effectiveness of the proposed scheme.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.133 No.10 （2013） 特集：分散エネルギーマネジメント

本誌掲載ページ: 1924-1929 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/133/10/133_1924/_article/-char/ja/