Robust Tracking Control for Uncertain Micro-Hand Actuator with Dead-Zone and Hysteresis

This paper investigates the problem of uncertain Micro manipulation with dead-zone and uncertain backlash models based on robust right coprime factorization (RRCF). Firstly, the conventional dead-zone model and common backlash model existing in soft robotic arms are introduced, along with the model of inflatable rubber tube actuators. Secondly, a robust controller is designed to ensure the system's stability. Thirdly, a combination of RRCF-based approach and integral-sliding mode approach is employed for tracking, significantly reducing the time and improving the tracking performance. Finally, the performance and feasibility of this method are tested through simulation.