Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm
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Final Accepted Manuscript
Author
Doroudchi, AzadehShivakumar, Sachin
Fisher, Rebecca E.
Marvi, Hamid
Aukes, Daniel
He, Ximin
Berman, Spring
Peet, Matthew M.
Affiliation
Univ Arizona, Coll Med Phoenix, Dept Basic Med SciIssue Date
2018
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IEEECitation
A. Doroudchi et al., "Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm," 2018 IEEE Conference on Decision and Control (CDC), Miami Beach, FL, 2018, pp. 7002-7009. doi: 10.1109/CDC.2018.8619036Rights
© 2018 IEEE.Collection Information
This item from the UA Faculty Publications collection is made available by the University of Arizona with support from the University of Arizona Libraries. If you have questions, please contact us at repository@u.library.arizona.edu.Abstract
Continuum robot manipulators present challenges for controller design due to the complexity of their infinite-dimensional dynamics. This paper develops a practical dynamics-based approach to synthesizing state feedback controllers for a soft continuum robot arm composed of segments with local sensing, actuation, and control capabilities. Each segment communicates its states to its two adjacent neighboring segments, requiring a tridiagonal feedback matrix for decentralized controller implementation. A semi-discrete numerical approximation of the Euler-Bernoulli beam equation is used to represent the robot arm dynamics. Formulated in state space representation, this numerical approximation is used to define an H-infinity optimal control problem in terms of a Bilinear Matrix Inequality. We develop three iterative algorithms that solve this problem by computing the tridiagonal feedback matrix which minimizes the H-infinity norm of the map from disturbances to regulated outputs. We confirm through simulations that all three controllers successfully dampen the free vibrations of a cantilever beam that are induced by an initial sinusoidal displacement, and we compare the controllers' performance.ISSN
978-1-5386-1395-5Version
Final accepted manuscriptSponsors
Office of Naval Research (ONR) [N00014-17-1-2117]Additional Links
https://ieeexplore.ieee.org/document/8619036/ae974a485f413a2113503eed53cd6c53
10.1109/CDC.2018.8619036