Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm
Fisher, Rebecca E.
Peet, Matthew M.
AffiliationUniv Arizona, Coll Med Phoenix, Dept Basic Med Sci
MetadataShow full item record
CitationA. 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.2018.8619036
Rights© 2018 IEEE.
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AbstractContinuum 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.
VersionFinal accepted manuscript
SponsorsOffice of Naval Research (ONR) [N00014-17-1-2117]