TY - JOUR
T1 - P-satI-D Shape Regulation of Soft Robots
AU - Pustina, Pietro
AU - Borja, Pablo
AU - Santina, Cosimo Della
AU - De, Luca A
PY - 2023/1
Y1 - 2023/1
N2 - 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.
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.
UR - https://pearl.plymouth.ac.uk/context/secam-research/article/2126/viewcontent/P_satI_D_Shape_Regulation_of_Soft_Robots.pdf
U2 - 10.1109/lra.2022.3221304
DO - 10.1109/lra.2022.3221304
M3 - Article
SN - 2377-3766
VL - 8
SP - 1
EP - 8
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 1
ER -