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P-satI-D Shape Regulation of Soft Robots

Pustina, Pietro and Borja, Pablo and Della Santina, Cosimo and De Luca, Alessandro (2022) P-satI-D Shape Regulation of Soft Robots. IEEE Robotics and Automation Letters, 8 (1), pp. 1-8. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3221304. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/9944851


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.

Item URL in elib:https://elib.dlr.de/192578/
Document Type:Article
Title:P-satI-D Shape Regulation of Soft Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Pustina, PietroUniversita di Roma “La Sapienza”UNSPECIFIEDUNSPECIFIED
Borja, PabloUniversity of PlymouthUNSPECIFIEDUNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
De Luca, AlessandroUniversita di Roma “La Sapienza”https://orcid.org/0000-0002-0713-5608UNSPECIFIED
Date:10 November 2022
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-8
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Control and learning for soft robots, modeling, motion control, underactuated robots
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:19 Dec 2022 07:22
Last Modified:09 Apr 2024 10:27

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