On the stability of the soft pendulum with affine curvature: open-loop, collocated closed-loop, and switching control

Maja Trumic, Cosimo Della Santina, Kosta Jovanovic, Adriano Fagiolini

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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 languageEnglish
Pages (from-to)385-390
JournalIEEE Control Systems Letters
Volume7
DOIs
Publication statusPublished - 2023

Keywords

  • Control systems
  • Emerging control applications
  • Gravity
  • Potential energy
  • Robotics
  • Robots
  • Soft robotics
  • Stability criteria
  • Stability of nonlinear systems
  • Torque

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