A Dynamic Pole Motion Approach for Control of Nonlinear Hybrid Soft Legs: A Preliminary Study

Abstract

Hybrid soft leg systems have been studied for advanced gaits of soft robots. However, it is challenging to analyze and control hybrid soft legs due to their nonlinearity. In this study, we adopted dynamic pole motion (DPM) to analyze stability of a nonlinear hybrid soft leg system with dynamic Routh’s stability criterion and to design a proper controller for the nonlinear system with an error-based adaptive controller (E-BAC). A typical hybrid soft leg system was taken as an example, as such a system can easily become unstable and needs a controller to get the system back to a stable state. Specifically, E-BAC was designed to control the unstable hybrid soft leg fast with a minimal overshoot. As a nonlinear controller, the implanted E-BAC in a feedback control system includes two dominant dynamic parameters: the dynamic position feedback and the dynamic velocity feedback . These parameters were properly selected, and the feedback was continuously varying as a function of system error , exhibiting an adaptive control behavior. The simulation shows that this approach for constructing an adaptive controller can yield a very fast response with no overshoot.

Minimum Energy Control of Quadrotor UAV: Synthesis and Performance Analysis of Control System with Neurobiologically Inspired Intelligent Controller (BELBIC)

“…It is also planned to verify the performance of the solution on our flapping-wing microdrones. Furthermore, in parallel, comparative studies of the tracking quality of the proposed solution are conducted with the optimal regulators based on the linear quadratic regulator (LQR), coefficient diagram method (CDM), dynamic pole motion (DPM) approach [56], and State-Dependent Riccati Equation (SDRE) technique.…”

Robotic-Arm-Based Force Control by Deep Deterministic Policy Gradient in Neurosurgical Practice

“…The robot velocity (u) is the derivative of the position (x) with respect to time (t). Furthermore, in the existing literature, several research works, such as the one presented in the work of Song et al [18], have introduced adaptive control structures. These methodologies hold the potential for applicability in our specific scenario, particularly when the penalty or optimization costs can be expressed as analytical functions that depend on the control parameters.…”

Contributions to the Dynamic Regime Behavior of a Bionic Leg Prosthesis

“…We appreciate that there is a similarity regarding the concept described in [ 26 ], but in our model, we make improvements related to the kinematic and dynamic models. From an analytical–numerical point of view, the bionic prosthesis solution includes the operating laws of the prosthesis, which respect the anatomy of a human leg.…”