On the stability of the soft pendulum with affine curvature
open-loop, collocated closed-loop, and switching control
Maja Trumic (University of Belgrade)
C. Lieu (Deutsches Zentrum für Luft- und Raumfahrt (DLR), TU Delft - Learning & Autonomous Control)
Kosta Jovanovic (University of Belgrade)
Adriano Fagiolini (Università degli Studi di Palermo)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
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.
help_outline