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
收藏
页码：13 / 18
页数：6
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