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    Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm

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    Name:
    Doroudchi_et_al_CDC2018.pdf
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    1.346Mb
    Format:
    PDF
    Description:
    Final Accepted Manuscript
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    Author
    Doroudchi, Azadeh
    Shivakumar, Sachin
    Fisher, Rebecca E.
    Marvi, Hamid
    Aukes, Daniel
    He, Ximin
    Berman, Spring
    Peet, Matthew M.
    Affiliation
    Univ Arizona, Coll Med Phoenix, Dept Basic Med Sci
    Issue Date
    2018
    
    Metadata
    Show full item record
    Publisher
    IEEE
    Citation
    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.2018.8619036
    Journal
    2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
    Rights
    © 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
    978-1-5386-1395-5
    DOI
    10.1109/CDC.2018.8619036
    Version
    Final accepted manuscript
    Sponsors
    Office of Naval Research (ONR) [N00014-17-1-2117]
    Additional Links
    https://ieeexplore.ieee.org/document/8619036/
    ae974a485f413a2113503eed53cd6c53
    10.1109/CDC.2018.8619036
    Scopus Count
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    UA Faculty Publications

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