P-satI-D Shape Regulation of Soft Robots

Pietro Pustina; Pablo Borja; Cosimo Della Santina; Alessandro De Luca

doi:10.1109/LRA.2022.3221304

P-satI-D Shape Regulation of Soft Robots

Pietro Pustina, Pablo Borja, Cosimo Della Santina, Alessandro De Luca

Learning & Autonomous Control

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Abstract

Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and disturbances. In these conditions, this letter proposes two versions of PID-like control laws with a saturated integral action for the particularly challenging shape regulation task. The closed-loop system is asymptotically stabilized and matched constant disturbances are rejected using a very reduced amount of system information for control implementation. Stability is assessed on the underactuated dynamic model through the Invariant Set Theorem for two relevant classes of soft robots, i.e., elastically decoupled and elastically dominated soft robots. Extensive simulation results validate the proposed controllers.

Original language	English
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	8
Issue number	1
DOIs	https://doi.org/10.1109/LRA.2022.3221304
Publication status	Published - 2023

Keywords

Gold
Modeling, Control, and Learning for Soft Robots
Motion Control
Regulation
Regulators
Robots
Shape
Soft robotics
Symmetric matrices
Underactuated Robots

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P-satI-D_Shape_Regulation_of_Soft_RobotsFinal published version, 984 KBLicence: CC BY

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P-satI-D Shape Regulation of Soft Robots

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