Dynamic tube model predictive control for a class of soft manipulators with fluidic actuation
File(s)
Accepted version
Author(s)
Bastos, Guaraci
Franco, Enrico
Type
Journal Article
Abstract
Controlling soft continuum manipulators is a challenging task due to the structural compliance of these systems which results in underactuation. While a variety of control approaches have been proposed for regulation tasks, tracking control requires further investigation. To this end, a new dynamic tube-Model Predictive Control formulation is presented, which includes an ancillary control law constructed analytically with an energy-shaping approach. Two different models are considered: (i) a rigid-link model with direct-torque actuation, which is representative of miniature soft continuum manipulators supplied by digital pressure regulators; (ii) an extended model that includes the pressure dynamics of the fluid, which is representative of fluidic actuation by means of a variable flow rate. The effectiveness of the proposed algorithm is demonstrated with numerical simulations considering bounded external disturbances, either constant or time-varying.
Date Issued
2025-05-10
Date Acceptance
2022-12-31
Citation
International Journal of Robust and Nonlinear Control, 2025, 35 (7), pp.2780-2799
ISSN
1049-8923
Publisher
Wiley
Start Page
2780
End Page
2799
Journal / Book Title
International Journal of Robust and Nonlinear Control
Volume
35
Issue
7
Copyright Statement
© 2023 John Wiley & Sons Ltd.
This is the peer reviewed version of the following article:[Bastos G, Franco E. Dynamic tube model predictive
control for a class of soft manipulators with fluidic actuation. Int J Robust Nonlinear Control. 2023;1-20], which
has been published in final form at [https://doi.org/10.1002/rnc.6598]. This article may be used for non-commercial
purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. This article may not
be enhanced, enriched or otherwise transformed into a derivative work, without express permission from Wiley or
by statutory rights under applicable legislation. Copyright notices must not be removed, obscured or modified. The
article must be linked to Wiley’s version of record on Wiley Online Library and any embedding, framing or otherwise
making available the article or pages thereof by third parties from platforms, services and websites other than Wiley
Online Library must be prohibited.
This is the peer reviewed version of the following article:[Bastos G, Franco E. Dynamic tube model predictive
control for a class of soft manipulators with fluidic actuation. Int J Robust Nonlinear Control. 2023;1-20], which
has been published in final form at [https://doi.org/10.1002/rnc.6598]. This article may be used for non-commercial
purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. This article may not
be enhanced, enriched or otherwise transformed into a derivative work, without express permission from Wiley or
by statutory rights under applicable legislation. Copyright notices must not be removed, obscured or modified. The
article must be linked to Wiley’s version of record on Wiley Online Library and any embedding, framing or otherwise
making available the article or pages thereof by third parties from platforms, services and websites other than Wiley
Online Library must be prohibited.
Identifier
https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000913868800001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=a2bf6146997ec60c407a63945d4e92bb
Subjects
Automation & Control Systems
bounded disturbances
dynamic tube-MPC
Engineering
Engineering, Electrical & Electronic
Mathematics
Mathematics, Applied
Physical Sciences
ROBOT
SCHEME
Science & Technology
soft continuum manipulators
SYSTEMS
Technology
TRACKING
trajectory tracking
underactuated systems
unmatched disturbances
Publication Status
Published
Date Publish Online
2023-01-13