Soft fluid-driven robots have great potential for safe interaction with humans, and for adaptation to complex and unpredictable environments with the compliance brought about by soft materials. However, the respective complex structure and massive use of nonlinear and viscoelastic soft materials, and the nonlinear fluid-driven dynamics, result in the nonlinear dynamic behavior of soft robots, and thus pose great challenges to system modeling and dynamic control. In this study, a complete model is first established by considering the nonlinear behavior of fiber-reinforced soft bending actuator (FRSBA) and the nonlinear dynamics of pneumatic system regulated by two high-speed on/off valves. Notably, the nonlinear dynamic behavior of FRSBA is first identified as parametric uncertainties using the multi-sine pressure excitation signal, and the effects of nonlinear pneumatic system are fully taken into account. Then, an adaptive robust controller is designed to handle the system nonlinearities with a guaranteed transient and steady-state performance. Finally, the comparative experiments demonstrate the effectiveness of proposed modeling method and high performance of adaptive robust controller

中文翻译：

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利用开/关阀的纤维增强软弯曲执行器控制


软流体驱动机器人在与人类安全交互以及通过软材料带来的顺应性适应复杂和不可预测的环境方面具有巨大潜力。然而，非线性、粘弹性软材料的复杂结构和大量使用，以及非线性流体驱动动力学，导致软机器人的非线性动力学行为，从而给系统建模和动态控制带来巨大挑战。在本研究中，首先考虑纤维增强软弯曲执行器（FRSBA）的非线性行为和由两个高速开关阀调节的气动系统的非线性动力学，建立了完整的模型。值得注意的是，首次利用多正弦压力激励信号将FRSBA的非线性动态行为识别为参数不确定性，并充分考虑了非线性气动系统的影响。然后，设计了自适应鲁棒控制器来处理系统非线性，并保证瞬态和稳态性能。最后，通过对比实验证明了所提出的建模方法的有效性和自适应鲁棒控制器的高性能