针对软体机器人不确定性，提出自适应事件触发控制方法
Adaptive event-triggered robust tracking control of soft robots
- 用命令滤波设计补偿误差动态，结合切换函数优化控制
- 实现有限时间稳定，有效抑制未建模动态与外部扰动
- 适合高精度软体机器人控制，尤其在资源受限场景
由柔性材料制成的软体机器人具有高度顺应性和环境适应性，适用于灵巧操作和环境探索等场景。本文研究了存在未建模动态和外部扰动等不确定性时软体机器人的轨迹跟踪控制问题。首先，提出一种新型切换函数，并利用命令滤波器设计补偿后的跟踪误差动态。随后，基于反步法，设计虚拟控制器及自适应律以估计不确定性影响的上界，从而构建事件触发控制策略。此外，针对切换函数的不同情形，推导出统一的有限时间稳定性证明。最后，通过一个软体机器人的案例研究验证了所提算法的有效性。
原文摘要 · Abstract (English)
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at investigating the tracking control problem for soft robots under uncertainty such as unmodeled dynamics and external disturbance. First, we establish a novel switching function and design the compensated tracking error dynamics by virtue of the command filter. Then, based on the backstepping methodology, the virtual controllers and the adaptive logic estimating the supremum of uncertainty impacts are developed for synthesizing an event-triggered control strategy. In addition, the uniformed finite-time stability certification is derived for different scenarios of the switching function. Finally, we perform a case study of a soft robot to illustrate the effectiveness of the proposed control algorithm.
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