Feedforward augmented Sliding Mode Motion Control of Antagonistic Soft Pneumatic Actuators

Soft pneumatic actuators provide many exciting properties, but controlling them without the use of bulky and expensive flow-control valves can be difficult and computationally expensive. We seek a solution to this problem by introducing an inexpensive and reliable muscle-like linear soft actuator used antagonistically to operate a rigid 1-DoF joint, resulting in a system that combines the advantages of rigid and soft robotics. Using this setup, we performed precise motion control using a sliding mode feedback controller as well as a sliding mode controller augmented by a feedforward term to modulate the state of solenoid valves that drive each actuator. We found that both controllers performed equivalently well in following a step function and in responding to a disturbance. The feedforward augmented controller performed significantly better when following dynamic trajectories over a range of frequencies and with the addition of an external force. The next step will be to modify our valve control scheme to allow for the determination of both the position and stiffness of the joint, better leveraging the advantages of soft pneumatic actuators.