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A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Pierallini, Michele and Stella, Francesco and Angelini, Franco and Deutschmann, Bastian and Hughes, Josie and Bicchi, Antonio and Garabini, Manolo and Della Santina, Cosimo (2023) A Provably Stable Iterative Learning Controller for Continuum Soft Robots. IEEE Robotics and Automation Letters, 8 (10), 6427 -6434. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3307007. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/abstract/document/10225256


Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system's underactuation, and the need of using a prominent feedforward control action to preserve the soft and safe robot behavior. To tackle this challenge, this letter proposes a purely feedforward iterative learning control algorithm that refines the torque action by leveraging both the knowledge of the model and data obtained from past experience. After presenting a 3D polynomial description of soft robots, we study their intrinsic properties, e.g., input-to-state stability, and we prove the convergence of the controller coping with locally Lipschitz nonlinearities. Finally, we validate the proposed approach through simulations and experiments involving multiple systems, trajectories, and in the case of external disturbances and model mismatches.

Item URL in elib:https://elib.dlr.de/197435/
Document Type:Article
Title:A Provably Stable Iterative Learning Controller for Continuum Soft Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Pierallini, MicheleUniversita di PisaUNSPECIFIEDUNSPECIFIED
Angelini, FrancoUniversita di PisaUNSPECIFIEDUNSPECIFIED
Deutschmann, BastianUNSPECIFIEDhttps://orcid.org/0000-0002-9139-5719UNSPECIFIED
Bicchi, AntonioUNSPECIFIEDhttps://orcid.org/0000-0001-8635-5571UNSPECIFIED
Garabini, ManoloCentro di Ricerca “Enrico Piaggio”, University of Pisa, Pisa, ItalyUNSPECIFIEDUNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Date:21 August 2023
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:6427 -6434
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Robots,Soft robotics,Feedforward systems,Trajectory,Three-dimensional displays,Solid modeling,Kinematics
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) > Analysis and Control of Advanced Robotic Systems
Deposited By: Deutschmann, Dr. -Ing. Bastian
Deposited On:21 Sep 2023 13:53
Last Modified:21 Sep 2023 13:53

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