Li Shunli, Meng Deyuan, Tang Chaoquan, Zhong Wei, Li Aimin
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, Jiangsu, China.
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, Jiangsu, China; Jiangsu Provincial Key Laboratory of Advanced Manufacture and Process for Marine Mechanical Equipment, Jiangsu University of Science and Technology, Zhenjiang, 212003, Jiangsu, China.
ISA Trans. 2021 Jun;112:337-349. doi: 10.1016/j.isatra.2020.12.019. Epub 2020 Dec 11.
An adaptive robust controller with non-local memory hysteresis force compensation is investigated for the precision tracking control of pneumatic artificial muscle (PAM). The proposed controller presents a two-layer cascade structure, and each layer has an adaptive law part and a robust control law part. A modified operator based Prandtl-Ishlinskii (PI) model is employed in the development of the robust control algorithm with the hysteresis feedback linearization compensation. Moreover, in the robust control law part, the problem of unbounded uncertain nonlinearities introduced by the hysteresis force term is addressed by applying an on-line monitoring method. In the adaptive law part, model parameters including weights of the modified operator are updated online by the recursive least squares estimation (RLSE) method, and then the effect of the hysteresis non-local memory characteristic is further attenuated. The tracking error is guaranteed to converge to a small residual set. Comparative experimental results demonstrate the significance of the non-local memory hysteresis force compensation, then, a desired precision can be guaranteed.
针对气动人工肌肉（PAM）的精确跟踪控制，研究了一种具有非局部记忆滞后力补偿的自适应鲁棒控制器。所提出的控制器具有两层级联结构，每层都有一个自适应律部分和一个鲁棒控制律部分。在具有滞后反馈线性化补偿功能的鲁棒控制算法开发中，采用了一种基于改进算子的Prandtl-Ishlinskii（PI）模型。此外，在鲁棒控制律部分，通过应用在线监测方法解决了由滞回力项引入的无界不确定非线性问题。在自适应律部分，包括改进算子权重在内的模型参数通过递归最小二乘估计（RLSE）方法在线更新，进而进一步减弱滞后非局部记忆特性的影响。跟踪误差保证收敛到一个小的残差集。对比实验结果证明了非局部记忆滞后力补偿的重要性，从而可以保证所需的精度。
