Robust Force Control Based on Fuzzy ESO and Hysteresis Compensation for a Pneumatic Actuator-Driven Compliant Mechanism with Full-State Constraints

Author:

Liu Jidong1,Sun Lei1ORCID,Li Zhiyuan1ORCID,Li Peiwen2,Zhou Lu1,Lin Wanbiao3

Affiliation:

1. College of Artificial Intelligence, Nankai University, Tianjin 300350, China

2. Jihua Laboratory, Foshan 528251, China

3. Shenzhen Research Institute of Nankai University, Shenzhen 518000, China

Abstract

This paper proposes a “planning and control” scheme for a compliant mechanism (CM) based on a pneumatic actuator (PAC) with hysteresis nonlinearity and full-state constraints. In the planning part, a novel direct inverse model is presented to compensate for hysteresis nonlinearity, enabling more accurate planning of the desired air pressure based on the desired contact force. In the control part, by fusing fuzzy logic systems (FLSs) and an extended state observer (ESO), a fuzzy ESO is developed to observe the external disturbance and the rate of change of the air pressure. Additionally, the challenges in the controller design caused by full-state constraints are overcome by constructing barrier Lyapunov functions (BLFs). It is proved that all signals of the closed-loop system are bounded, and the tracking error of the air pressure can converge to a small neighborhood of the origin. Finally, the effectiveness and robustness of the proposed method are verified by hardware experiments, which also show that the root mean square errors of force control accuracies are within 2N, achieving satisfactory force control effects.

Funder

National Natural Science Foundation of China

Shenzhen Natural Science Foundation

Publisher

MDPI AG

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