Integral passivity-based control of an underactuated hydraulic soft manipulator with uncertain nonlinear stiffness

被引：1

作者：

Arpenti, Pierluigi ^{[1
]}

Franco, Enrico ^{[2
]}

Donaire, Alejandro ^{[3
]}

机构：

[1] Univ Naples Federico II, Dept Elect Engn & Informat Technol, PRISMA Lab, Via Claudio 21, I-80125 Naples, Italy

[2] Imperial Coll London, Mech Engn Dept, Exhibit Rd, London SW7 2AZ, England

[3] Univ Newcastle, Sch Engn, Univ Dr, Callaghan, NSW 2308, Australia

来源：

IFAC PAPERSONLINE | 2024年 / 58卷 / 06期

基金：

英国工程与自然科学研究理事会;

关键词：

Passivity-based control; integral action; disturbances; soft robotics; nonlinear systems; MECHANICAL SYSTEMS; INTERCONNECTION; STABILIZATION; ROBOTS;

D O I：

10.1016/j.ifacol.2024.08.249

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work investigates the integral passivity-based control of an underactuated soft continuum manipulator that bends on a horizontal plane, that is actuated by pressurized fluid, and that is characterized by uncertain nonlinear stiffness. The main contribution of this work is the application of the integral passivity-based control methodology to a system that is not in affine form and that is subject to parameter uncertainty resulting in multiple position-dependent disturbances. The effectiveness of the controller is demonstrated with numerical simulations. Copyright (C) 2024 The Authors.

引用

页码：13 / 18

页数：6

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