Right Coprime Factorization-Based Simultaneous Control of Input Hysteresis and Output Disturbance and Its Application to Soft Robotic Finger

摘要

In a nonlinear control system, hysteresis exists usually as common characteristics. In addition, external output disturbances like modelling error, machine friction and so on also occur frequently. Both of them are considered to cause instability and unsatisfactory performance. In this paper, a practical nonlinear control system design is proposed so as to achieve the simultaneous control of input hysteresis and output disturbance. The system is based on RCF (right coprime factorization theory). Additionally, the proposed design has been applied to a soft robotic finger system and the results of simulations and practical experiments are exhibited, which show the effectiveness of the proposed system.