Abstract
This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a template model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.
Original language | English |
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Pages (from-to) | 385-390 |
Journal | IEEE Control Systems Letters |
Volume | 7 |
DOIs | |
Publication status | Published - 2023 |
Keywords
- Control systems
- Emerging control applications
- Gravity
- Potential energy
- Robotics
- Robots
- Soft robotics
- Stability criteria
- Stability of nonlinear systems
- Torque