Integral passivity-based control of an underactuated hydraulic soft manipulator with uncertain nonlinear stiffness
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Published version
Author(s)
Arpenti, P
Franco, E
Donaire, A
Type
Conference Paper
Abstract
This work investigates the integral passivity-based control of an underactuated soft continuum manipulator that bends on a horizontal plane, that is actuated by pressurized fuid, and that is characterized by uncertain nonlinear stiffness. The main contribution of this work is the application of the integral passivity-based control methodology to a system that is not in affine form and that is subject to parameter uncertainty resulting in multiple position-dependent disturbances. The effectiveness of the controller is demonstrated with numerical simulations.
Date Issued
2024-09-25
Online Publication Date
2024-10-01T10:37:45Z
Date Acceptance
2024-03-06
ISSN
2405-8963
Publisher
Elsevier
Start Page
13
End Page
18
Journal / Book Title
IFAC-PapersOnLine
Volume
58
Issue
6
Copyright Statement
© 2024 The Authors. This is an open access article under the CC BY-NC-ND license
(https://creativecommons.org/licenses/by-nc-nd/4.0/)
(https://creativecommons.org/licenses/by-nc-nd/4.0/)
Source
8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024: Besançon, France, June 10 – 12, 2024
Publication Status
Published
Start Date
2024-06-10
Finish Date
2024-06-12
Country
Besancon, France
Date Publish Online
2024-09-25