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Observer-Based Adaptive Sliding Mode Control for Soft Actuators with Input Constraints

Cao, Guizhou; Shi, Huige; Xia, Dawei; Zheng, Yi; Liu, Yanhong; Yu, Hongnian


Guizhou Cao

Huige Shi

Dawei Xia

Yi Zheng

Yanhong Liu


Fabricated by superelastic materials, soft actuators are an emerging field to provide a solution of safe interaction with complicated, unstructured and frequently brittle work environments, while they also bear challenges in fragility and controlling of continuous deformation bodies. This paper addresses an adaptive sliding mode controller with input saturation constraints for soft actuators with unavailable system states and uncertainties. First, an improved super-twisting observer is employed to estimate system states and compensate system uncertainties adaptively. Second, an integral sliding mode controller is proposed to track desired references, strengthen system robustness and constrain input bounds. Finally, the proposed controller is utilized and compared with previous works in simulations to illustrate the effectiveness.

Presentation Conference Type Conference Paper (Published)
Conference Name 2021 Chinese Intelligent Automation Conference
Online Publication Date Oct 8, 2021
Publication Date 2022
Deposit Date Jun 15, 2022
Publisher Springer
Pages 524-533
Series Title Lecture Notes in Electrical Engineering
Series Number 801
Series ISSN 1876-1100
Book Title Proceedings of 2021 Chinese Intelligent Automation Conference
ISBN 978-981-16-6371-0
Public URL