Energy Shaping Control of Hydraulic Soft Continuum Planar Manipulators

Authors

Enrico Franco

Abstract

This letter investigates the model-based control of a class of soft continuum manipulators with hydraulic actuation that bend on a plane due to pressurization of one or more internal chambers. A port-Hamiltonian formulation is employed to describe the system dynamics, which includes the pressure dynamics of the hydraulic fluid. A new nonlinear control law is constructed with an energy-shaping approach, and it is combined with an adaptive observer to compensate the effect of unknown external forces. Stability conditions are investigated with a Lyapunov approach, and the effect of the tuning parameters and of key model parameters is discussed. The effectiveness of the controller is demonstrated with numerical simulations.

Citation

• Journal: IEEE Control Systems Letters
• Year: 2022
• Volume: 6
• Issue:
• Pages: 1748–1753
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/lcsys.2021.3133128

BibTeX

@article{Franco_2022,
  title={{Energy Shaping Control of Hydraulic Soft Continuum Planar Manipulators}},
  volume={6},
  ISSN={2475-1456},
  DOI={10.1109/lcsys.2021.3133128},
  journal={IEEE Control Systems Letters},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Franco, Enrico},
  year={2022},
  pages={1748--1753}
}

Download the bib file

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