On the stability of the soft pendulum with affine curvature

open-loop, collocated closed-loop, and switching control

Journal article (2023)

Authors

Maja Trumic University of Belgrade
C. Della Santina Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR), Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
Kosta Jovanovic University of Belgrade
Adriano Fagiolini Università degli Studi di Palermo
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 Maja Trumic, C. Della Santina, Kosta Jovanovic, Adriano Fagiolini
DOI
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https://doi.org/10.1109/LCSYS.2022.3187612
Gravity Robotics Robots Control systems Soft robotics Stability criteria Torque Stability of nonlinear systems Emerging control applications Potential energy
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Published Date

2023

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

Abstract

This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a template model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.