A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian Kernel
Soft actuators have been employed in various fields recently. A miniature pneumatic bending rubber actuator is one of the soft actuators. This actuator will be used for medical and biological fields. Its flexibility and high safety are suitable for fragile objects. However, its modeling is difficult...
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MDPI AG
2017-02-01
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| Series: | Actuators |
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| Online Access: | http://www.mdpi.com/2076-0825/6/1/6 |
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doaj-cdbc2d8660e34ef58b8cea4dcca395c22020-11-25T00:19:56ZengMDPI AGActuators2076-08252017-02-0161610.3390/act6010006act6010006A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian KernelKou Fujita0Mingcong Deng1Shuichi Wakimoto2Department of Electrical and Electronic Engineering, Graduate School of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei-shi, Tokyo 184-8588, JapanDepartment of Electrical and Electronic Engineering, Graduate School of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei-shi, Tokyo 184-8588, JapanGraduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, JapanSoft actuators have been employed in various fields recently. A miniature pneumatic bending rubber actuator is one of the soft actuators. This actuator will be used for medical and biological fields. Its flexibility and high safety are suitable for fragile objects. However, its modeling is difficult due to its nonlinearity. There are no suitable sensors to measure the output of this actuator. In this paper, the particle swarm optimization-support vector regression (PSO-SVR)-based estimation method with the generalized Gaussian kernel is proposed. An experimental result with the operator-based robust nonlinear control system is employed to verify the effectiveness of the proposed method.http://www.mdpi.com/2076-0825/6/1/6support vector machinesupport vector regressionparticle swarm optimizationsoft actuatoroperator theorynonlinear control |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Kou Fujita Mingcong Deng Shuichi Wakimoto |
| spellingShingle |
Kou Fujita Mingcong Deng Shuichi Wakimoto A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian Kernel Actuators support vector machine support vector regression particle swarm optimization soft actuator operator theory nonlinear control |
| author_facet |
Kou Fujita Mingcong Deng Shuichi Wakimoto |
| author_sort |
Kou Fujita |
| title |
A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian Kernel |
| title_short |
A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian Kernel |
| title_full |
A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian Kernel |
| title_fullStr |
A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian Kernel |
| title_full_unstemmed |
A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian Kernel |
| title_sort |
miniature pneumatic bending rubber actuator controlled by using the pso-svr-based motion estimation method with the generalized gaussian kernel |
| publisher |
MDPI AG |
| series |
Actuators |
| issn |
2076-0825 |
| publishDate |
2017-02-01 |
| description |
Soft actuators have been employed in various fields recently. A miniature pneumatic bending rubber actuator is one of the soft actuators. This actuator will be used for medical and biological fields. Its flexibility and high safety are suitable for fragile objects. However, its modeling is difficult due to its nonlinearity. There are no suitable sensors to measure the output of this actuator. In this paper, the particle swarm optimization-support vector regression (PSO-SVR)-based estimation method with the generalized Gaussian kernel is proposed. An experimental result with the operator-based robust nonlinear control system is employed to verify the effectiveness of the proposed method. |
| topic |
support vector machine support vector regression particle swarm optimization soft actuator operator theory nonlinear control |
| url |
http://www.mdpi.com/2076-0825/6/1/6 |
| work_keys_str_mv |
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