Title: Robust learning tracking control design for soft actuators

Authors: Adnan Alamili; Ali Al-Ghanimi; Mukhalad Al-Nasrawi

Addresses: Department of Electrical Engineering, Faculty of Engineering, University of Kufa, P.O. Box 21, Iraq ' Department of Electrical Engineering, Faculty of Engineering, University of Kufa, P.O. Box 21, Iraq ' Department of Electrical Power Engineering, Al-Furat Al-Awsat Technical University, Al-Najaf, Kufa, Iraq

Abstract: This paper proposes a recursive sliding-mode control strategy for motion-tracking control of ionic polymer-metal composite soft actuator systems. The suggested controller is distinctive in that it can continuously modify the closed-loop response to maintain system stability. Accordingly, Lyapunov criteria have been used to establish the stability of the provided control technique. Additionally, since controller design does not require any prior knowledge of parameter uncertainties or system hysteresis, it is appropriate for ionic polymer-metal composites since its model changes depending on working conditions. Simulation investigations are conducted to validate the performance of the developed controller. The results demonstrate superior performance compared to the conventional sliding mode control approach.

Keywords: sliding mode control; SMC; ionic polymer-metal composites; soft actuator; robust learning control; tracking control.

DOI: 10.1504/IJMMS.2023.137366

International Journal of Mechatronics and Manufacturing Systems, 2023 Vol.16 No.4, pp.399 - 409

Received: 20 Mar 2023
Accepted: 17 Jul 2023
Published online: 14 Mar 2024 *

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