ORCID
- Borja, Pablo: 0000-0001-7744-0846
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.
DOI
10.1109/lra.2022.3221304
Publication Date
2023-01-01
Publication Title
IEEE Robotics and Automation Letters
Volume
8
Issue
1
Embargo Period
2023-03-18
Organisational Unit
School of Engineering, Computing and Mathematics
First Page
1
Last Page
8
Recommended Citation
Pustina, P., Borja, P., Santina, C., & De, L. (2023) 'P-satI-D Shape Regulation of Soft Robots', IEEE Robotics and Automation Letters, 8(1), pp. 1-8. Available at: https://doi.org/10.1109/lra.2022.3221304
