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This paper presents a nonlinear error feedback controller for a pneumatic soft bionic fin based on an extended state observer. Manufacturing process is shown for a bionic stingray with the pneumatic soft bionic fin. A test experiment is carried out for a driving part in the pneumatic soft bionic fin by upper chamber inflated and lower chamber inflated with different internal pressures. A dynamic nonlinear system is established for the pneumatic soft bionic fin by test experiment results and kinematic modeling. Total disturbances of the dynamic nonlinear system are estimated and compensated by the extended state observer and the nonlinear error feedback controller, respectively. Moreover, both the convergence of the extended state observer and stability of the dynamic nonlinear system are proved by Lyapunov approach. Finally, simulation results are shown to verify the effectiveness of the proposed control method for the pneumatic soft bionic fin.

Nonlinear Error Feedback Positioning Control for a Pneumatic Soft Bionic Fin via an Extended State Observer