Model based eversion control of soft growing robots with pneumatic actuation
File(s)LCSS22_Accepted.pdf (673.65 KB)
Accepted version
Author(s)
Franco, Enrico
Type
Journal Article
Abstract
This letter investigates the model based position control of soft growing robots with pneumatic actuation that extend according to the principle known as eversion. A dynamical model of the system which accounts for the energy of the ideal gas is presented by employing the port-Hamiltonian formulation. A new control law is constructed with an energy shaping approach. An adaptive observer is employed to compensate the effect of external forces, including that of gravity. Numerical simulations indicate that the proposed controller is superior to simpler energy shaping algorithms.
Date Issued
2022-05-16
Date Acceptance
2022-05-09
Citation
IEEE Control Systems Letters, 2022, 6, pp.2689-2694
ISSN
2475-1456
Publisher
Institute of Electrical and Electronics Engineers
Start Page
2689
End Page
2694
Journal / Book Title
IEEE Control Systems Letters
Volume
6
Copyright Statement
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Sponsor
Engineering & Physical Science Research Council (E
Grant Number
EP/R511547/1
Subjects
Science & Technology
Technology
Automation & Control Systems
Pneumatic systems
Observers
Soft robotics
Damping
Numerical models
Indexes
Gravity
Emerging control applications
stability of nonlinear systems
adaptive control
soft growing robots
STABILIZATION
Publication Status
Published
Date Publish Online
2022-05-18