Nonlinear energy-based control of soft continuum pneumatic manipulators
File(s)
Published version
Author(s)
Franco, Enrico
Ayatullah, Tutla
Sugiharto, Arif
Garriga Casanovas, arnau
Virdyawan, vani
Type
Journal Article
Abstract
This paper investigates the model-based nonlinear control of a class of soft continuum pneumatic manipulators that bend due to pressurization of their internal chambers and that operate in the presence of disturbances. A port-Hamiltonian formulation is employed to describe the closed loop system dynamics, which includes the pressure dynamics of the pneumatic actuation, and new nonlinear control laws are constructed with an energy-based approach. In particular, a multi-step design procedure is outlined for soft continuum manipulators operating on a plane and in 3D space. The resulting nonlinear control laws are combined with adaptive observers to compensate the effect of unknown disturbances and model uncertainties. Stability conditions are investigated with a Lyapunov approach, and the effect of the tuning parameters is discussed. For comparison purposes, a different control law constructed with a backstepping procedure is also presented. The effectiveness of the control strategy is demonstrated with simulations and with experiments on a prototype. To this end, a needle valve operated by a servo motor is employed instead of more sophisticated digital pressure regulators. The proposed controllers effectively regulate the tip rotation of the prototype, while preventing vibrations and compensating the effects of disturbances, and demonstrate improved performance compared to the backstepping alternative and to a PID algorithm.
Date Issued
2021-09-04
Date Acceptance
2021-08-12
Citation
Nonlinear Dynamics, 2021, 106, pp.229-253
ISSN
0924-090X
Publisher
Springer
Start Page
229
End Page
253
Journal / Book Title
Nonlinear Dynamics
Volume
106
Copyright Statement
© The Author(s) 2021. This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.
License URL
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Engineering & Physical Science Research Council (E
Identifier
https://link.springer.com/article/10.1007%2Fs11071-021-06817-1
Grant Number
EP/R009708/1
EP/R511547/1
Subjects
Acoustics
01 Mathematical Sciences
09 Engineering
Publication Status
Published
Date Publish Online
2021-09-04