Inverse Hysteresis Compensation and Quasi-Sliding Mode Control of Micro-hand System

Micro-hand is a kind of pneumatic soft robot, which has light weight and high flexibility is widely used in various fields. However, due to the inevitable hysteresis effect in rubber materials, the stability and accuracy of the system are affected, which puts higher demands on the control system. In this paper, inverse hysteresis compensation for hysteresis effect which is represented by generalized Prandtl-Ishlinskii model is discussed and robust right coprime factorization control and quasi-sliding mode control are combined to ensure the robust stability and the tracking performance of the system. Finally, the simulations of tracking performance are carried out.