Pustina, Pietro und Borja, Pablo und Della Santina, Cosimo und De Luca, Alessandro (2022) P-satI-D Shape Regulation of Soft Robots. IEEE Robotics and Automation Letters, 8 (1), Seiten 1-8. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3221304. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/9944851
Kurzfassung
Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and disturbances. In these conditions, this letter proposes two versions of PID-like control laws with a saturated integral action for the particularly challenging shape regulation task. The closed-loop system is asymptotically stabilized and matched constant disturbances are rejected using a very reduced amount of system information for control implementation. Stability is assessed on the underactuated dynamic model through the Invariant Set Theorem for two relevant classes of soft robots, i.e., elastically decoupled and elastically dominated soft robots. Extensive simulation results validate the proposed controllers.
elib-URL des Eintrags: | https://elib.dlr.de/192578/ | ||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
Titel: | P-satI-D Shape Regulation of Soft Robots | ||||||||||||||||||||
Autoren: |
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Datum: | 10 November 2022 | ||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
Band: | 8 | ||||||||||||||||||||
DOI: | 10.1109/LRA.2022.3221304 | ||||||||||||||||||||
Seitenbereich: | Seiten 1-8 | ||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Control and learning for soft robots, modeling, motion control, underactuated robots | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
Hinterlegt am: | 19 Dez 2022 07:22 | ||||||||||||||||||||
Letzte Änderung: | 09 Apr 2024 10:27 |
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