access icon free Practical model-free robust estimation and control design for an underwater soft IPMC actuator

© The Institution of Engineering and Technology
Received 02/10/2019, Accepted 30/03/2020, Revised 28/02/2020, Published 01/04/2020

In the trend of the recent development of soft actuators, ionic polymer metal composite (IPMC) is considered as one of the new and innovative soft materials. The IPMC is suited to be utilised in medical micro robots and bio-inspired aquatic robotics. It is distinguished by nimble, soft, silent, flexible and lightweight properties. In fact, for the IPMC actuator, hysteresis and creep non-linearities are inevitable; and it is a great challenge to handle them and to achieve high-precision tracking in the control design, especially when the internal system morphology is complex and not fully understood. This study proposes a new model-free control approach for an underwater IPMC actuator to overcome the lack of its exact model and to achieve accurate trajectory tracking. This approach is synthesised based on a non-linear extended state observer technique to estimate lumped uncertainties and disturbances. Furthermore, a sliding mode controller is added as an extra input to deal with the estimation error and to assure the tracking robustness. Finally, the proposed control is experimentally verified to show its effectiveness in comparison with a non-singular terminal sliding mode controller. The experimental results indicate that the proposed controller is capable of delivering good tracking accuracy with strong robustness.

Inspec keywords: microrobots; mobile robots; underwater vehicles; observers; robot dynamics; nonlinear control systems; robust control; motion control; control system synthesis; variable structure systems; actuators

Other keywords: estimation error; tracking robustness; new materials; soft properties; innovative soft materials; internal system morphology; exact model; soft actuators; control design; model-free control approach; ionic polymer metal composite; superior advantages; accurate trajectory tracking; strong robustness; practical model-free; high-precision tracking; nonsingular terminal sliding mode controller; bio-inspired aquatic robotics; underwater soft IPMC actuator; nonlinearities; good tracking accuracy; lightweight properties; underwater IPMC actuator; nimble properties; silent properties; nonlinear extended state observer technique; flexible properties

Subjects: Spatial variables control; Multivariable control systems; Robot and manipulator mechanics; Stability in control theory; Nonlinear control systems; Control system analysis and synthesis methods; Mobile robots

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