肌腱驱动软机器人的奇异摄动控制:理论与实验

IF 3.9 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Lucas Novaki Ribeiro;Pablo Borja;Cosimo Della Santina;Bastian Deutschmann
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引用次数: 0

摘要

现有的基于模型的肌腱驱动连续体软机器人控制策略忽略了驱动系统的动力学特性。然而,这种动态对闭环性能有重要影响。本文分析了肌腱驱动连续体软机器人执行轨迹跟踪任务时驱动动力学的影响。为此,我们使用奇异摄动(SP)理论来设计考虑这种动力学的控制器。我们提供了SP控制器的分析公式及其深入的实验验证。此外,我们使用高刚度和低刚度肌腱来实验比较所提出的SP控制器与忽略驱动动力学的传统反馈控制方案的性能。实验结果表明,SP控制器在不依赖高增益的情况下减少了振荡,实现了较低的误差,优于忽略驱动动力学的方法。在低刚度系数的情况下,忽略驱动动力学可能导致失稳。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Singular-Perturbation Control of a Tendon-Driven Soft Robot: Theory and Experiments
The existing model-based control strategies for tendon-driven continuum soft robots neglect the dynamics of the actuation system. Nevertheless, such dynamics have an important impact on the closed-loop performance. This work analyzes the influence of the actuation dynamics in tendon-driven continuum soft robots performing trajectory-tracking tasks. To this end, we use singular perturbation (SP) theory to design controllers that account for such dynamics. We provide the analytical formulation of the SP controllers and their in-depth experimental validation. Additionally, we use high- and low-stiffness tendons to experimentally compare the performance of the proposed SP controllers against traditional feedback control schemes that disregard the actuation dynamics. The experimental results show that SP controllers outperform the approaches that neglect the actuation dynamics by reducing oscillations and achieving lower errors without relying on high gains. Furthermore, it is shown that neglecting the actuation dynamics may lead to instability when the tendons have a low stiffness coefficient.
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来源期刊
IEEE Transactions on Control Systems Technology
IEEE Transactions on Control Systems Technology 工程技术-工程:电子与电气
CiteScore
10.70
自引率
2.10%
发文量
218
审稿时长
6.7 months
期刊介绍: The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.
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