Paper Info
Title
Model-Based Eversion Control of Soft Growing Robots With Pneumatic Actuation
Abstract
This letter investigates the model based position control of soft growing robots with pneumatic actuation that extend according to the principle known as eversion. A dynamical model of the system which accounts for the energy of the ideal gas is presented by employing the port-Hamiltonian formulation. A new control law is constructed with an energy shaping approach. An adaptive observer is employed to compensate the effect of external forces, including that of gravity. Numerical simulations indicate that the proposed controller is superior to simpler energy shaping algorithms.
Year
DOI
Venue
2022
10.1109/LCSYS.2022.3175385
IEEE CONTROL SYSTEMS LETTERS
Keywords
DocType
Volume
Pneumatic systems, Observers, Soft robotics, Damping, Numerical models, Indexes, Gravity, Emerging control applications, stability of nonlinear systems, adaptive control, soft growing robots
Journal
6
ISSN
Citations 
PageRank 
2475-1456
0
0.34
References 
Authors
0
1
Name
Order
Citations
PageRank
Enrico Franco100.68