6533b7d9fe1ef96bd126cf16
RESEARCH PRODUCT
On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control
Maja TrumicCosimo Della SantinaKosta JovanovicAdriano Fagiolinisubject
soft roboticsControl systemsControl and OptimizationStability criteriaGravityRoboticsEmerging control applicationsSettore ING-INF/04 - AutomaticaPotential energyTorqueControl and Systems EngineeringStability of nonlinear systemsRobotsEmerging control applications stability of nonlinear systems robotics.description
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.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2022-06-30 |