Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback
Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Rui Fujino, Takuma Yamauchi, Eitaro Tanaka, Kenji Tahara
Abstract
In this letter, an angular trajectory tracking controller for a twisted polymeric fiber (TPF) actuator by the combination of a model-based feed-forward and estimated temperature feedback is proposed. TPF actuator is one of the soft actuators that can produce a rotational motion, which is made by twisting a nylon yarn and thermally treating it. Adding a feed-forward controller with a feedback controller makes it possible to reduce a phase lag and realizes a higher frequency response compared with using only the feedback controller when performing a time-dependent trajectory tracking. First, temperature–angle, resistance–temperature, and voltage–temperature models are composed, respectively, and then combined in order to design a feedforward controller. Next, parameter estimation is performed through experiments using the prototype of a rotational actuation module. Finally, trajectory-tracking experiments are conducted using a prototype to demonstrate that the proposed method can improve the tracking performance by reducing the phase lag.
BibTeX
@inproceedings{ral2019_rotationalanglet,
title = {Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback},
author = {Ryo Hayashi and Ken Masuya and Kentaro Takagi and Toshihira Irisawa and Rui Fujino and Takuma Yamauchi and Eitaro Tanaka and Kenji Tahara},
booktitle = {RA-L 2019},
year = {2019}
}