Discrete-time model based control of soft manipulator with FBG sensing
File(s)Discrete_Control_FBG.tho64.pdf (552.13 KB)
Accepted version
Author(s)
Type
Conference Paper
Abstract
In this article we investigate the discrete-time model based control of a planar soft continuum manipulator with proprioceptive sensing provided by fiber Bragg gratings.
A control algorithm is designed with a discrete-time energy
shaping approach which is extended to account for control-
related lag of digital nature. A discrete-time nonlinear observer is employed to estimate the uncertain bending stiffness of the manipulator and to compensate constant matched disturbances. Simulations and experiments demonstrate the effectiveness of the controller compared to a continuous time implementation.
A control algorithm is designed with a discrete-time energy
shaping approach which is extended to account for control-
related lag of digital nature. A discrete-time nonlinear observer is employed to estimate the uncertain bending stiffness of the manipulator and to compensate constant matched disturbances. Simulations and experiments demonstrate the effectiveness of the controller compared to a continuous time implementation.
Date Issued
2023-07-04
Date Acceptance
2023-02-20
Citation
2023, pp.567-572
Publisher
IEEE
Start Page
567
End Page
572
Copyright Statement
Copyright © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
https://ieeexplore.ieee.org/abstract/document/10160743
Source
ICRA 2023
Publication Status
Published
Start Date
2023-05-29
Finish Date
2023-06-02
Coverage Spatial
London, UK
Date Publish Online
2023-07-04