Equivalent-Input-Disturbance-Based Dynamic Tracking Control for Soft Robots via Reduced-Order Finite-Element Models - Université Polytechnique des Hauts-de-France
Article Dans Une Revue IEEE/ASME Transactions on Mechatronics Année : 2022

Equivalent-Input-Disturbance-Based Dynamic Tracking Control for Soft Robots via Reduced-Order Finite-Element Models

Résumé

This article develops a systematic framework for dynamic tracking control of soft robots. To this end, we propose a new projector for the proper orthogonal decomposition algorithm to significantly reduce the large-scale robot models, obtained from finite-element methods (FEM), while preserving their structure and stability properties. Such a property preservation enables an effective equivalent-input-disturbance-based scheme for dynamic tracking control of elastic soft robots with various geometries and materials. The proposed control scheme is composed of three key components, i.e. , feedforward control, disturbance-estimator control, and feedback control. To account for the trajectory reference, the feedforward action is designed from the dynamic FEM reduced-order robot model. The disturbance-estimator control action is obtained from an unknown input observer, which also provides the estimates of the reduced states for the feedback control design. The feedback gains of the observer-based controller are computed from an optimization problem under linear matrix inequality constraints. The closed-loop tracking properties are guaranteed using the Lyapunov stability theory. The effectiveness of the proposed dynamic control framework has been demonstrated via both high-fidelity SOFA simulations and experimental validations, performed on two soft robots with different natures. In particular, comparative studies with state-of-the-art control methods have been also carried out to highlight the interests of the new soft robot control results. This article is complemented with a video: https://bit.ly/2VVwtLn .

Domaines

Automatique
Fichier principal
Vignette du fichier
IEEE_EIDTracking_Final.pdf (6.45 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04278852 , version 1 (25-11-2023)

Identifiants

Citer

Shijie Li, Alexandre Kruszewski, Thierry-Marie Guerra, Tran Anh-Tu Nguyen. Equivalent-Input-Disturbance-Based Dynamic Tracking Control for Soft Robots via Reduced-Order Finite-Element Models. IEEE/ASME Transactions on Mechatronics, 2022, 27 (5), pp.4078-4089. ⟨10.1109/TMECH.2022.3144353⟩. ⟨hal-04278852⟩
30 Consultations
100 Téléchargements

Altmetric

Partager

More