Adaptive Nonlinear Sensorless Control for an Uncertain Miniature Pneumatic Curling Rubber Actuator Using Passivity and Robust Right Coprime Factorization

In this brief, an adaptive nonlinear sensorless control for an uncertain miniature pneumatic curling rubber actuator is considered using passivity and the robust right coprime factorization approach. Specially, based on the robust right coprime factorization approach, robust stability is guaranteed and passivity is realized simultaneously. Then, the adaptive control system is designed for tracking performance. Support vector regression is proposed to estimate the output for avoiding the use of a sensor. Finally, the experimental setup is shown and the experimental results are provided to show the effectiveness of the proposed scheme.