Robust passive tracking control for micro-hand system
BU Ni
LI Xiao-yong
ZHANG Yu-yi
Abstract：In recent years,as a hot research topic in the field of robotics,the research of the micro-hand system has gained more and more attention.Since the micro-hand system is complex with nonlinearity,it is difficult to realize the accurate tracking performance for some real applications.Therefore,in order to solve the accurate control problem of the micro-hand system,the robust passive tracking control for the micro-hand system is studied in this paper.Firstly,using the operator-based robust right coprime factorization method,a dynamic model of the micro-hand system is established.Secondly,combined with the passive compensator,the passive robust controller is designed to ensure robust stability and passivity of the system.Thirdly,the robust tracking control scheme based on dual Bezout identity is proposed,which makes the whole nonlinear systems hold robustness and perfect tracking performance.Finally,the effectiveness of the proposed method is further verified by the simulation.
Keywords：robust controlnonlinear systempassivityBezout identityrobust tracking control
Publication Date：2023-09-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 1620-1626 )