Robust Control for Hysteretic Microhand Actuator Using Robust Right Coprime Factorization
Ni Bu, Yingying Zhang, Y. Y. Zhang, Yuuki Morohoshi, Mingcong Deng
Abstract
In this paper, the robust stability and tracking control of Micro-hand system are researched, wherein the influence of hysteresis characteristics is eliminated, and the tracking accuracy is improved. Firstly, the generalized hysteresis operator is combined with isomorphism to factorize the system, and then controllers are designed to stabilize the hysteretic Micro-hand system. Secondly, a parallel compensation operator is discussed by combining the right coprime factorization, which eliminates the influence of hysteresis. Thirdly, a terminal sliding mode <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$-$</tex-math></inline-formula> parallel compensation <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$-$</tex-math></inline-formula> robust right coprime factorization tracking control scheme is proposed, which further reduces the error and improves the tracking accuracy. Finally, the effectiveness of the proposed scheme is verified by simulation results.