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

Controlling soft continuum manipulators is a challenging task due to the structural compliance of these systems which results in underactuation. While a variety of control approaches have been proposed for regulation tasks, tracking control requires further investigation. To this end, a new dynamic...

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Bibliographic Details
Published inInternational journal of robust and nonlinear control Vol. 35; no. 7; pp. 2780 - 2799
Main Authors Bastos, Guaraci, Franco, Enrico
Format Journal Article
LanguageEnglish
Published Bognor Regis Wiley Subscription Services, Inc 10.05.2025
Subjects
Actuation
Algorithms
bounded disturbances
Control systems
Control theory
dynamic tube‐MPC
Fluid dynamics
Manipulators
Predictive control
Pressure regulators
Robot arms
soft continuum manipulators
Tracking control
trajectory tracking
underactuated systems
unmatched disturbances
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Summary:Controlling soft continuum manipulators is a challenging task due to the structural compliance of these systems which results in underactuation. While a variety of control approaches have been proposed for regulation tasks, tracking control requires further investigation. To this end, a new dynamic tube‐Model Predictive Control formulation is presented, which includes an ancillary control law constructed analytically with an energy‐shaping approach. Two different models are considered: (i) a rigid‐link model with direct‐torque actuation, which is representative of miniature soft continuum manipulators supplied by digital pressure regulators; (ii) an extended model that includes the pressure dynamics of the fluid, which is representative of fluidic actuation by means of a variable flow rate. The effectiveness of the proposed algorithm is demonstrated with numerical simulations considering bounded external disturbances, either constant or time‐varying.
Bibliography:Funding information
UK Engineering and Physical Sciences Research Council, Grant/Award Numbers: EP/R511547/1; EP/W004224/1
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ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.6598