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On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control

Name: On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control
Keywords: soft robotics, Control systems, Stability criteria, Control and Optimization, Gravity, Robotics, Emerging control applications, Settore ING-INF/04 - Automatica, Potential energy, Torque

open-loop, collocated closed-loop, and switching control

descriptionPublicationkeyboard_double_arrow_right Other literature type , Article 01 Jan 2023 Germany, Netherlands, Italy Institute of Electrical and Electronics Engineers (IEEE)IEEE Control Systems Letters, volume 7, pages 385-390 (eissn: 2475-1456,

Authors: Maja Trumic; Cosimo Della Santina; Kosta Jovanovic; Adriano Fagiolini;

doi: 10.1109/lcsys.2022.3187612

On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control

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  (20)
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Abstract

This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a template model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.

Countries

Germany, Netherlands, Italy

Related Organizations

University of Palermo
Italy
German Aerospace Center
Germany
Delft University of Technology
Netherlands
University of Belgrade
Serbia
University of Palermo
Argentina

Keywords

soft robotics, Control systems, Stability criteria, Control and Optimization, Gravity, Robotics, Emerging control applications, Settore ING-INF/04 - Automatica, Potential energy, Torque, Control and Systems Engineering, Stability of nonlinear systems, Robots, Emerging control applications, stability of nonlinear systems, robotics.

20 references, page 1 of 2

[1] C. D. Santina et al., “Soft Robots,” Encyclopedia of Robotics, M. H. Ang, O. Khatib, B. Siciliano, Eds. Berlin, Germany: Springer, 2020, pp. 1-15, doi: 10.1007/978-3-642-41610-1_146-2

[2] T. G. Thuruthel et al., “Control strategies for soft robotic manipulators: A survey,” Soft Robot., vol. 5, no. 2, pp. 149-163, 2018.

[3] C. Armanini et al., “Soft robots modeling: A literature unwinding,” 2021, arXiv:2112.03645.

[4] C. Della Santina et al., “Model based control of soft robots: A survey of the state of the art and open challenges,” 2021, arXiv:2110.01358.

[5] R. J. Webster, III and B. A. Jones, “Design and kinematic modeling of constant curvature continuum robots: A review,” SAGE Int. J. Robot. Res., vol. 29, no. 13, pp. 1661-1683, 2010.

[6] V. Falkenhahn et al., “Model-based feedforward position control of constant curvature continuum robots using feedback linearization,” in Proc. Int. Conf. Robot. Autom., 2015, pp. 762-767.

[7] C. D. Santina et al., “Model-based dynamic feedback control of a planar soft robot: Trajectory tracking and interaction with the environment,” SAGE Int. J. Robot. Res., vol. 39, no. 4, pp. 490-513, 2020.

[8] M. Trumic et al., “Adaptive control of soft robots based on an enhanced 3D augmented rigid robot matching,” in Proc. Amer. Control Conf. (ACC), 2021, pp. 4991-4996.

[9] M. Thieffry et al., “LPV framework for non-linear dynamic control of soft robots using finite element model,” IFAC-PapersOnLine, vol. 53, no. 2, pp. 7312-7318, 2020.

[10] K. Wu and G. Zheng, “Fem-based gain-scheduling control of a soft trunk robot,” IEEE Robot. Autom. Lett., vol. 6, no. 2, pp. 3081-3088, Apr. 2021.

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	citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	0
	popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.	Average
	influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	Average
	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Average

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visibility	views	19
download	downloads	13

	citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	0
	popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.	Average
	influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	Average
	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Average