Title :

Reduced Order Control of Soft Robots with Guaranteed Stability

Author(s) :

Thieffry, Maxime [Auteur]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Kruszewski, Alexandre [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Guerra, Thierry-Marie [Auteur]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]

Conference title :

European Control Conference ECC18

City :

Limassol

Country :

Chypre

Start date of the conference :

2018-06-12

English keyword(s) :

Mathematical model
Soft robotics
Finite element analysis
Computational modeling
Lyapunov methods
Stability analysis

HAL domain(s) :

Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Automatique
Informatique [cs]/Systèmes et contrôle [cs.SY]

English abstract : [en]

This work offers the ability to design a closed-loop strategy to control the dynamics of soft robots. A numericalmodel of a robot is obtained using the Finite Element Method,which leads to work with large-scale systems ...
Show more >This work offers the ability to design a closed-loop strategy to control the dynamics of soft robots. A numericalmodel of a robot is obtained using the Finite Element Method,which leads to work with large-scale systems that are difficult tocontrol. The main contribution is a reduced order model-basedcontrol law, that consists in two main features: a reduced statefeedback tunes the performance while a Lyapunov functionguarantees the stability of the large-scale closed-loop systems.The method is generic and usable for any soft robot, as long asa FEM model is obtained. Simulation results show that we cancontrol and reduce the settling time of the soft robot and makeit converge faster without oscillations to a desired position.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL