P-satI-D Shape Regulation of Soft Robots
Pietro Pustina (Sapienza University of Rome)
Pablo Borja (Plymouth University)
C. Lieu (Deutsches Zentrum für Luft- und Raumfahrt (DLR), TU Delft - Learning & Autonomous Control)
Alessandro De Luca (Sapienza University of Rome)
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Abstract
Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and disturbances. In these conditions, this letter proposes two versions of PID-like control laws with a saturated integral action for the particularly challenging shape regulation task. The closed-loop system is asymptotically stabilized and matched constant disturbances are rejected using a very reduced amount of system information for control implementation. Stability is assessed on the underactuated dynamic model through the Invariant Set Theorem for two relevant classes of soft robots, i.e., elastically decoupled and elastically dominated soft robots. Extensive simulation results validate the proposed controllers.
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