P-satI-D Shape Regulation of Soft Robots

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

doi:10.1109/lra.2022.3221304

P-satI-D Shape Regulation of Soft Robots

Pietro Pustina^*, Pablo Borja, Cosimo Della Santina, Luca A De

^*Corresponding author for this work

School of Engineering, Computing and Mathematics

Research output: Contribution to journal › Article › peer-review

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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
Pages (from-to)	1-8
Number of pages	0
Journal	IEEE Robotics and Automation Letters
Volume	8
Issue number	1
Early online date	10 Nov 2022
DOIs	https://doi.org/10.1109/lra.2022.3221304
Publication status	Published - Jan 2023

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10.1109/lra.2022.3221304

P-satI-D Shape Regulation of Soft Robots

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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.",

author = "Pietro Pustina and Pablo Borja and Santina, {Cosimo Della} and De, {Luca A}",

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AB - 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.

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DO - 10.1109/lra.2022.3221304

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P-satI-D Shape Regulation of Soft Robots

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