Dynamic tube model predictive control for a class of soft manipulators with fluidic actuation

Bastos, Guaraci; Franco, Enrico

doi:10.1002/rnc.6598

Cited by 6 publications

(1 citation statement)

References 42 publications

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“…Practical applications of IDA‐PBC include magnetic levitation systems, 3 suspension systems, 4,5 and weakly‐coupled electro‐mechanical systems 6 . More recently, IDA‐PBC designs have been proposed for underactuated mechanical systems with fluidic actuation, 7–9 with high‐order actuator dynamics, 10 and with actuator saturation 11 . A growing number of research works have investigated the effect of disturbances on underactuated systems by employing various techniques, including nonlinear observers 12 and quadratic programming 13 .…”

Section: Introductionmentioning

confidence: 99%

Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances

Franco,

Arpenti,

Donaire

2023

Intl J Robust & Nonlinear

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This work investigates the energy shaping control of a class of underactuated mechanical systems subject to state‐dependent linearly parameterized matched disturbances. To this end, a new integral interconnection and damping‐assignment passivity‐based design is proposed. The controller design is developed for systems subject to either momenta‐dependent disturbances or position‐dependent disturbances or to both simultaneously. The effectiveness of the proposed approach is demonstrated with numerical simulations on three examples: an Acrobot system with nonlinear friction; a ball‐on‐beam system with constant and position‐dependent disturbances; a disk‐on‐disk system with a complete set of state‐dependent disturbances. In all examples, the proposed controller shows better performance compared to previous implementations.

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Section: Introductionmentioning

confidence: 99%

Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances

Franco,

Arpenti,

Donaire

2023

Intl J Robust & Nonlinear

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Robust tracking control for uncertain micro‐hand actuator with Prandtl‐Ishlinskii hysteresis

Zhang

2023

Intl J Robust & Nonlinear

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This article is concerned with the robust tracking control for an uncertain micro‐hand actuator with Prandtl‐Ishlinskii hysteresis (PI hysteresis) by robust right coprime factorization (RRCF). Firstly, the PI hysteresis is modeled into the rubber micro‐hand actuator and a new hysteretic micro‐hand system is obtained. Secondly, by compensating the hysteresis part into the isomorphic subspace, the effect of hysteresis on micro‐hand system is transferred and the operator‐based robust controllers are designed to ensure that the robust stability of the whole system. Thirdly, the RRCF and terminal sliding mode control are combined for tracking control, and the nonsingular terminal sliding mode surface with integral terms is designed, which shorten the convergence time and improve the tracking performance. Finally, the effectiveness of the method is tested by the simulation of the micro‐hand system.

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Analysis of internal dynamics in trajectory tracking problems

Bastos

2023

Int. J. Dynam. Control

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Dynamic tube model predictive control for a class of soft manipulators with fluidic actuation

Cited by 6 publications

References 42 publications

Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances

Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances

Robust tracking control for uncertain micro‐hand actuator with Prandtl‐Ishlinskii hysteresis

Analysis of internal dynamics in trajectory tracking problems

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