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Model-Based Control for Soft Robots With System Uncertainties and Input Saturation

Shao, Xiangyu and Pustina, Pietro and Stölzle, Maximilian and Sun, Guanghui and De Luca, Alessandro and Wu, Ligang and Della Santina, Cosimo (2023) Model-Based Control for Soft Robots With System Uncertainties and Input Saturation. IEEE Transactions on Industrial Electronics, pp. 1-10. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TIE.2023.3303636. ISSN 0278-0046.

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Official URL: https://ieeexplore.ieee.org/document/10229939


Model-based strategies are a promising solution to the grand challenge of equipping continuum soft robots with motor intelligence. However, finite-dimensional models of these systems are inherently inaccurate, thus posing pressing robustness concerns. Moreover, the actuation space of soft robots is usually limited. This article aims at solving both these challenges by proposing a robust model-based strategy for the shape control of soft robots with system uncertainty and input saturation. The proposed architecture is composed of two key components. First, we propose an observer that estimates deviations between the theoretical model and the soft robot, ensuring that the estimation error converges to zero within finite time. Second, we introduce a sliding mode controller to regulate the soft robot shape while fulfilling saturation constraints. This controller uses the observer's output to compensate for the deviations between the real system and the established model. We prove the convergence of the closed-loop with theoretical analysis and the method's effectiveness with simulations and experiments.

Item URL in elib:https://elib.dlr.de/197516/
Document Type:Article
Title:Model-Based Control for Soft Robots With System Uncertainties and Input Saturation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Shao, XiangyuUNSPECIFIEDhttps://orcid.org/0000-0002-7779-2267UNSPECIFIED
Pustina, PietroUNSPECIFIEDhttps://orcid.org/0000-0003-0368-5626UNSPECIFIED
Stölzle, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0002-2608-9758UNSPECIFIED
Sun, GuanghuiUNSPECIFIEDhttps://orcid.org/0000-0003-1623-2220UNSPECIFIED
De Luca, AlessandroUNSPECIFIEDhttps://orcid.org/0000-0002-0713-5608UNSPECIFIED
Wu, LigangUNSPECIFIEDhttps://orcid.org/0000-0001-8198-5267UNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Date:24 August 2023
Journal or Publication Title:IEEE Transactions on Industrial Electronics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-10
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:soft 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) > Analysis and Control of Advanced Robotic Systems
Deposited By: Strobl, Dr. Klaus H.
Deposited On:24 Sep 2023 06:25
Last Modified:24 Sep 2023 06:25

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