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- W4292070425 abstract "An artificial muscle is well known to have strong asymmetric hysteresis characteristics, which depend on the load applied to the muscle. It is therefore difficult to achieve a high control performance and robustness to various loads. In a previous study, model-free adaptive control (MFAC), which is a data-driven control method, was applied to muscles, and a high tracking control performance was achieved. However, MFAC requires numerous design parameters that are extremely time-consuming to tune. To solve these problems, this study considers the tuning of the design parameters of the MFAC by introducing virtual reference feedback tuning, which is a data-driven control method. In addition, control experiments with five loads were conducted to verify the robustness of the load. The experimental results show that the proposed method achieves a high tracking control performance without an overshoot and is highly robust to loads while reducing the time-consuming routine for parameter tuning and modelling." @default.
- W4292070425 created "2022-08-17" @default.
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- W4292070425 date "2022-07-12" @default.
- W4292070425 modified "2023-09-27" @default.
- W4292070425 title "Virtual Reference Feedback Tuning-based Model-Free Adaptive Displacement Control for Tap-Water-Driven Artificial Muscle and Robustness Evaluation to Load" @default.
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- W4292070425 doi "https://doi.org/10.23919/ecc55457.2022.9838223" @default.
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