Nonlinear Error Feedback Positioning Control for a Pneumatic Soft Bionic Fin via an Extended State Observer

Haiyan Cheng,Jinhua Zhang,Yue Li,Jun Hong,Dahai Li

doi:10.1109/access.2020.2966037

Haiyan Cheng, Jinhua Zhang + Show 3 more

Open Access

https://doi.org/10.1109/access.2020.2966037

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Abstract

This paper presents a nonlinear error feedback controller for a pneumatic soft bionic fin based on an extended state observer. Manufacturing process is shown for a bionic stingray with the pneumatic soft bionic fin. A test experiment is carried out for a driving part in the pneumatic soft bionic fin by upper chamber inflated and lower chamber inflated with different internal pressures. A dynamic nonlinear system is established for the pneumatic soft bionic fin by test experiment results and kinematic modeling. Total disturbances of the dynamic nonlinear system are estimated and compensated by the extended state observer and the nonlinear error feedback controller, respectively. Moreover, both the convergence of the extended state observer and stability of the dynamic nonlinear system are proved by Lyapunov approach. Finally, simulation results are shown to verify the effectiveness of the proposed control method for the pneumatic soft bionic fin.

Highlights

Since a study of soft robots becomes a burgeoning hotspot, numerous robots with soft mechanisms are created for many fields [1]
In this paper, manufacturing of a bionic stingray has been introduced with dozen pneumatic soft bionic fins
A test experiment has been carried out for a driving part in the pneumatic soft bionic fin by upper chamber inflated and lower chamber inflated with different internal pressures

Summary

Introduction

Since a study of soft robots becomes a burgeoning hotspot, numerous robots with soft mechanisms are created for many fields [1]. Due to the advantages of soft mechanisms for safety operation, cleanliness, excellent flexibility and so on, soft actuators of the soft robots are popular, such as shape memory alloy-actuated multiple degrees of freedom soft robot [2], twisted and coiled polymer-based elastomer soft robot [3]. Fabrications and designs are common for bionic soft robots. Snake-like locomotion is obtained by bidirectional fluidic elastomer actuators in [4] for a fluidic soft robot. It is worth mentioning that stingrays with good motion stability becomes one of numerous bionic fishs objects [9]. Some works on bionic stingray are introduced by researchers in

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