软体驱动器是构建智能软体机器人的基石;然而,由于软体驱动器具有非线性、耦合和不确定性等复杂的特性,如何对其进行有效建模与控制是目前极需解决的难题;以一种由三支单腔双向弯曲软驱动器构成的软体微手为研究对象,对其进行了鲁棒非线性控制设计研究;首先,进行了鲁棒非线性控制系统的总体结构设计分析;其次,对如何设计算子控制器、跟踪控制器、算子观测器实现其对软体微手的弯曲角度和力进行控制进行了分析和讨论;接着,分析和研究了鲁棒稳定和跟踪条件;最后,通过基于实验数据的仿真验证了所提方案的可行性和有效性.%Software drivers are the cornerstone of building intelligent software robots.However,due to the complex nature of software drivers such as nonlinearity,coupling and uncertainty,how to model and control them effectively is still a difficult problem to solve.In this paper,a software micro-hand consisting of three single-cavity two-way bending soft-drives is studied,and the robust nonlinear control design is studied.Firstly,the overall design of the robust nonlinear control system is presented.Secondly,how to design an operator controller,a tracking controller and an operator observer to control the bending angle and force of the software micro-hand is analyzed and discussed.Then,robust stability and tracking conditions are analyzed and studied.At last,the feasibility and validity of the proposed scheme are verified by simulation based on experimental data.
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