P-satI-D Shape Regulation of Soft Robots
dc.contributor.author | Pustina, P | |
dc.contributor.author | Borja, P | |
dc.contributor.author | Santina, CD | |
dc.contributor.author | De Luca, A | |
dc.date.accessioned | 2023-03-16T10:45:51Z | |
dc.date.available | 2023-03-16T10:45:51Z | |
dc.date.issued | 2023-01 | |
dc.identifier.issn | 2377-3766 | |
dc.identifier.issn | 2377-3766 | |
dc.identifier.uri | https://pearl.plymouth.ac.uk/handle/10026.1/20575 | |
dc.description.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. | |
dc.format.extent | 1-8 | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | |
dc.subject | Soft robotics | |
dc.subject | Robots | |
dc.subject | Shape | |
dc.subject | Symmetric matrices | |
dc.subject | Regulators | |
dc.subject | Regulation | |
dc.subject | Gold | |
dc.subject | Control | |
dc.subject | and learning for soft robots | |
dc.subject | modeling | |
dc.subject | motion control | |
dc.subject | underactuated robots | |
dc.title | P-satI-D Shape Regulation of Soft Robots | |
dc.type | journal-article | |
dc.type | Journal Article | |
plymouth.author-url | https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000890837400001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008 | |
plymouth.issue | 1 | |
plymouth.volume | 8 | |
plymouth.publication-status | Published | |
plymouth.journal | IEEE Robotics and Automation Letters | |
dc.identifier.doi | 10.1109/lra.2022.3221304 | |
plymouth.organisational-group | |Plymouth | |
plymouth.organisational-group | |Plymouth|Faculty of Science and Engineering | |
plymouth.organisational-group | |Plymouth|Faculty of Science and Engineering|School of Engineering, Computing and Mathematics | |
plymouth.organisational-group | |Plymouth|REF 2021 Researchers by UoA | |
plymouth.organisational-group | |Plymouth|Users by role | |
plymouth.organisational-group | |Plymouth|Users by role|Academics | |
plymouth.organisational-group | |Plymouth|REF 2021 Researchers by UoA|UoA11 Computer Science and Informatics | |
dcterms.dateAccepted | 2022-10-24 | |
dc.date.updated | 2023-03-16T10:45:28Z | |
dc.rights.embargodate | 2023-3-18 | |
dc.identifier.eissn | 2377-3766 | |
dc.rights.embargoperiod | forever | |
rioxxterms.versionofrecord | 10.1109/lra.2022.3221304 |