Robust control of electrohydraulic soft robots.
Front Robot AI
; 11: 1333837, 2024.
Article
em En
| MEDLINE
| ID: mdl-39157793
ABSTRACT
This article introduces a model-based robust control framework for electrohydraulic soft robots. The methods presented herein exploit linear system control theory as it applies to a nonlinear soft robotic system. We employ dynamic mode decomposition with control (DMDc) to create appropriate linear models from real-world measurements. We build on the theory by developing linear models in various operational regions of the system to result in a collection of linear plants used in uncertainty analysis. To complement the uncertainty analyses, we utilize H ∞ ("H Infinity") synthesis techniques to determine an optimal controller to meet performance requirements for the nominal plant. Following this methodology, we demonstrate robust control over a multi-input multi-output (MIMO) hydraulically amplified self-healing electrostatic (HASEL)-actuated system. The simplifications in the proposed framework help address the inherent uncertainties and complexities of compliant robots, providing a flexible approach for real-time control of soft robotic systems in real-world applications.
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Idioma:
En
Revista:
Front Robot AI
Ano de publicação:
2024
Tipo de documento:
Article
País de afiliação:
Estados Unidos
País de publicação:
Suíça