Paper Info
Title
Energy Shaping Control of Hydraulic Soft Continuum Planar Manipulators
Abstract
This letter investigates the model-based control of a class of soft continuum manipulators with hydraulic actuation that bend on a plane due to pressurization of one or more internal chambers. A port-Hamiltonian formulation is employed to describe the system dynamics, which includes the pressure dynamics of the hydraulic fluid. A new nonlinear control law is constructed with an energy-shaping approach, and it is combined with an adaptive observer to compensate the effect of unknown external forces. Stability conditions are investigated with a Lyapunov approach, and the effect of the tuning parameters and of key model parameters is discussed. The effectiveness of the controller is demonstrated with numerical simulations.
Year
DOI
Venue
2022
10.1109/LCSYS.2021.3133128
IEEE CONTROL SYSTEMS LETTERS
Keywords
DocType
Volume
Manipulator dynamics, Fluids, Numerical models, Hydraulic systems, Observers, Tuning, Fluid dynamics, Emerging control applications, flexible structures, adaptive control, stability of nonlinear systems
Journal
6
ISSN
Citations 
PageRank 
2475-1456
0
0.34
References 
Authors
0
1
Name
Order
Citations
PageRank
Enrico Franco100.68