Fixed-Time Dynamic Surface Disturbance Rejection Control for Pneumatic Soft Bending Actuators

In this paper, a fixed-time dynamic surface disturbance rejection control (FTDSDRC) method is proposed to achieve desired angle tracking control performances of the pneumatic soft bending actuator. To achieve active disturbance rejection, a fixed-time disturbance observer (FTDOB) is designed to estimate the unknown disturbance in the pneumatic soft bending actuator. Then, a fixed-time dynamic surface disturbance rejection controller is proposed to achieve desired angle tracking control performances by compensating for the unknown disturbance. Finally, angle tracking control experimental results demonstrate that the proposed FTDSDRC method effective in achieving desired angle tracking control performances.