Gaussian process-based nonlinearity compensation for pneumatic soft actuators

Pawluchin A, Meindl M, Weygers I, Seel T, Boblan I (2024)

Publication Type: Journal article

Publication year: 2024

Journal

At-Automatisierungstechnik Oldenbourg Verlag

Book Volume: 72

Pages Range: 440-448

Journal Issue: 5

DOI: 10.1515/auto-2023-0237

Abstract

Highly compliant Pneumatic Soft Actuators (PSAs) have the potential to perform challenging tasks in a broad range of applications that require shape-adaptive capabilities. Achieving accurate tracking control for such actuators with complex geometries and material compositions typically involves many time-consuming and laborious engineering steps. In this work, we propose a data-driven learning-based control approach to address reference tracking tasks, incorporating self-adaptation in situ. We utilize a short interaction maneuver, recorded a priori, to collect the quasi-static data affected by severe hysteresis. Besides a linear feedback controller, we use two Gaussian process models to predict the feedforward control input to compensate for the nonlinearity in a one-shot learning setting. The proposed control approach demonstrates accurate tracking performance even under realistic varying configurations, such as alterations in mass and orientation, without any parameter tuning. Notably, training was achieved with only 25-50 s of experimental interaction, which emphasizes the plug-and-play capabilities in diverse real-world applications.

Authors with CRIS profile

Ive Weygers Professur für Intelligente Sensomotorische Systeme

Involved external institutions

SRH Berlin University of Applied Sciences DE Germany (DE) Gottfried Wilhelm Leibniz Universität Hannover DE Germany (DE)

How to cite

APA:

Pawluchin, A., Meindl, M., Weygers, I., Seel, T., & Boblan, I. (2024). Gaussian process-based nonlinearity compensation for pneumatic soft actuators. At-Automatisierungstechnik, 72(5), 440-448. https://doi.org/10.1515/auto-2023-0237

MLA:

Pawluchin, Alexander, et al. "Gaussian process-based nonlinearity compensation for pneumatic soft actuators." At-Automatisierungstechnik 72.5 (2024): 440-448.

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