Model based adaptive control for a soft robotic manipulator
File(s)CDC19_accepted.pdf (725.09 KB)
Accepted version
Author(s)
Franco, Enrico
Garriga Casanovas, Arnau
Rodriguez y Baena, ferdinando
Astolfi, alessandro
Type
Conference Paper
Abstract
The application of model based adaptive control to an underactuated system representative of a class of soft continuummanipulators is investigated. To this end, a rigid-linkmodel with elastic joints is employed and an energy shaping controller is designed. Additionally, model uncertainties and external disturbances, both matched and unmatched, are compensated with an adaptive algorithm. This results in a control law that only depends on the orientation and on the angular velocity of the distal link and it is therefore independent of the number of links. Finally, stability conditions are discussed and the effectiveness of the controller is verified via simulations.
Date Issued
2020-03-12
Date Acceptance
2019-12-11
Citation
2020, pp.1019-1024
Publisher
IEEE
Start Page
1019
End Page
1024
Copyright Statement
© 2020 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.
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Identifier
https://ieeexplore.ieee.org/document/9029449
Grant Number
EP/R009708/1
Source
58th IEEE Conference on Decision and Control
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
STABILIZATION
INVARIANCE
IMMERSION
DYNAMICS
SYSTEMS
Publication Status
Published
Start Date
2019-12-11
Finish Date
2019-12-13
Coverage Spatial
Nice, France
Date Publish Online
2020-03-12