Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due to the hysteresis characteristics. In response to this challenge, we propose an adaptive control method to compensate for the hysteresis of soft actuators. Employing a novel dual pneumatic artificial muscle (PAM) bending actuator, the innovative control approach abates hysteresis effects by dynamically modulating gains within a traditional PID controller corresponding to the predicted variation of the reference trajectory. Through experimental evaluation, we found that the proposed control method outperforms its conventional counterparts regarding tracking accuracy and response speed. Our work reveals a new direction for advancing model-free control in soft actuators.

翻译：软体机器人是一个快速发展的领域。气动致动器因其优越的性能而适用于驱动软体机器人，然而，由于迟滞特性的存在，其控制具有挑战性。针对这一挑战，我们提出了一种自适应控制方法来补偿软体致动器的迟滞。采用一种新型双气动人造肌肉（PAM）弯曲致动器，该创新控制方法通过根据参考轨迹的预测变化动态调节传统PID控制器中的增益来减轻迟滞效应。通过实验评估，我们发现所提出的控制方法在跟踪精度和响应速度方面优于传统方法。我们的工作为推进软体致动器中的无模型控制揭示了新方向。