Lee, Young Min Yun, Yeoil Moon, Hyungpil Choi, Hyouk Ryeol Ihn, Yong Seok Koo, Ja Choon 2026-01-13T07:30:09Z 2026-01-13T07:30:09Z 2026-01-12 2026-02 https://pubs.kist.re.kr/handle/201004/153987 Precise control of soft pneumatic actuators is impeded by significant nonlinearities, particularly large internal volume variations during actuation—a factor often overlooked in conventional modeling. This letter proposes an adaptive robust control (ARC) framework designed for high-performance, energy-efficient control of soft actuators with non-negligible volume dynamics. The framework integrates a Modified Prandtl–Ishlinskii (MPI) model for hysteresis compensation with a real-time volume estimator using an internal Time-of-Flight (ToF) sensor. The ARC law then systematically handles uncertainties from both valve parameter variations and the volume estimation process. Experimental validation, through direct comparison with a conventional fixed-volume model, demonstrates that this volume-aware approach achieves robust trajectory tracking with significantly reduced control effort and energy consumption. This work establishes that explicitly modeling internal volume dynamics is crucial for developing high-performance control systems for a broad class of soft pneumatic actuators. English Institute of Electrical and Electronics Engineers Inc. Adaptive Robust Control for Rotation Tracking of a Soft Rotary Actuator With Hysteresis Compensation Article 10.1109/LRA.2025.3643282 3 IEEE Robotics and Automation Letters, v.11, no.2, pp.1618 - 1625 IEEE Robotics and Automation Letters 11 2 1618 1625 N 001643459800011 2-s2.0-105025468040 Robotics Robotics Article Soft pneumatic actuators volume modeling hysteresis adaptive robust control on/off valves Hysteresis Adaptation models Valves Solid modeling Robot sensing systems Robust control Volume measurement Uncertainty Pneumatic actuators Time measurement