Modeling for a Bellow-Shaped Soft Actuator Based on Yeoh model and Operator-Based Nonlinear Control Design

Recently, actuators using soft material like rubber have widely attracted attentions around the world. In this paper, a new mathematical model of miniature pneumatic actuator is proposed, which is based on Yeoh hyperelastic model. This kind of actuator is driven by air pressure and shaped like bellows, which ensures the bending movement. Then, the operator-based nonlinear control is realized using right coprime factorization and the mathematical model above. Finally, the stability of control system above is verified by simulation and analysis.