Robust tracking control for operator‐based uncertain micro‐hand actuator with Prandtl–Ishlinskii hysteresis

作者：Xiaoyong Li, Ni Bu, Yuyi Zhang · 发表于：Asian Journal of Control · 年份：2022 · DOI：10.1002/asjc.2951 · 被引用次数：9 · 研究领域：Piezoelectric Actuators and Control、Prosthetics and Rehabilitation Robotics、Cardiomyopathy and Myosin Studies

Abstract Since the hysteresis property inherently exists in the rubber material, it is necessary to deal with the control issues for the micro‐hand by considering the hysteresis property. Therefore, in this paper, the robust tracking control for the micro‐hand systems is discussed from the aspect of the Prandtl–Ishlinskii hysteresis property which is more applicable for the real applications. Firstly, a new model is obtained by combining the dynamic model of the micro‐hand with Prandtl–Ishlinskii hysteresis property. Secondly, a new stability condition based on bounded input and bounded output stability is proposed for the Prandtl–Ishlinskii hysteresis modeled micro‐hand system from two different cases. Thirdly, by designing the robust controllers based on the internal model control method, the tracking performance can be improved by eliminating the effect from the disturbance. Finally, simulation is used to further demonstrate the effectiveness of the proposed design scheme.