SVR based estimation modeling and robust nonlinear control for a miniature pneumatic curling rubber actuator

In this paper, a nonlinear modeling and an operator-based robust nonlinear control by using robust right coprime factorization approach for a miniature pneumatic curling rubber actuator described by support vector regression (SVR) based estimation model are investigated. That is, first, the nonlinear modeling is obtained by using moment relationship. Second, the robust nonlinear control system using robust right coprime factorization approach is designed. Finally, by using SVR, the input-output model is estimated by experimental data, and the effectiveness of the proposed scheme is confirmed by using the SVR based estimation model.