Abstract
The shape memory alloy (SMA)-based robotic hand has been a new emerging technology with potential applications ranging from life service to surgical treatment, because of the characteristics of SMA, such as high power-to-weight ratio, small volume and low driving voltage. However, due to the complex dynamic model and nonlinear aspects of SMA, it is complicated to control an SMA-based robotic hand. This paper presents a novel model free adaptive control for the SMA-based robotic hand system. By applying the Taylor series expansion method and the differential mean value theorem, the SMA based robotic hand system can be transformed into an equivalent linearization model, which merely depends on measurement data without any information on the system. Combined with prescribed performance control, the novel control method can constrain the tracking error in a preassigned domain. Experiments are conducted on the SMA-based robotic hand system to verify the performance of the presented control method.
Highlights
Memory Alloy-Based Robotic Hand.In recent years, developing service robots for human beings has been a prospective trend that has attracted the attention of scholars
Conventional robotic hands are unsafe and exhibit poor adaptability when they interact with humans or the surrounding environment
Based on the above analysis, a model free control method with predefined accuracy is proposed for an shape memory alloy (SMA)-based robotic hand system by using dynamic linearization technique (DLT) and prescribed performance control (PPC) to guarantee the tracking error constrained in a preassigned domain
Summary
In [27], a fuzzy logic control method is designed to realize the motion control of the SMA-based robotic hand. Based on the above analysis, a model free control method with predefined accuracy is proposed for an SMA-based robotic hand system by using DLT and PPC to guarantee the tracking error constrained in a preassigned domain. A novel model free control method combined with DLT and PPC is investigated for a class of discrete-time nonlinear systems to guarantee the tracking error in a preassigned boundary; The condition, which cannot satisfy the continuity assumption, is considered to improve the applicability in the proposed method; Experiments are implemented on an SMA-based robotic hand to testify that the proposed control method has a remarkable performance compared with PID and new model free adaptive control (NMFAC).
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