Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm

Azadeh Doroudchi, Sachin Shivakumar, Rebecca E. Fisher, Hamidreza Marvi, Daniel Aukes, Ximin He, Spring Berman, Matthew Peet

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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-{\infty} 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-{\infty} 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.

Original languageEnglish (US)
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7002-7009
Number of pages8
ISBN (Electronic)9781538613955
DOIs
StatePublished - Jan 18 2019
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: Dec 17 2018Dec 19 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2018-December
ISSN (Print)0743-1546

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
CountryUnited States
CityMiami
Period12/17/1812/19/18

Fingerprint

Decentralized control
Decentralized Control
Robot
Robots
Controller
Controllers
Tridiagonal matrix
Numerical Approximation
Continuum
Robot Dynamics
State-space Representation
Beam Equation
Euler-Bernoulli Beam
Robot Manipulator
Cantilever Beam
Discrete Approximation
Free Vibration
Feedback
State Feedback
Controller Design

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Doroudchi, A., Shivakumar, S., Fisher, R. E., Marvi, H., Aukes, D., He, X., ... Peet, M. (2019). Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm. In 2018 IEEE Conference on Decision and Control, CDC 2018 (pp. 7002-7009). [8619036] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2018.8619036

Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm. / Doroudchi, Azadeh; Shivakumar, Sachin; Fisher, Rebecca E.; Marvi, Hamidreza; Aukes, Daniel; He, Ximin; Berman, Spring; Peet, Matthew.

2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 7002-7009 8619036 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Doroudchi, A, Shivakumar, S, Fisher, RE, Marvi, H, Aukes, D, He, X, Berman, S & Peet, M 2019, Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm. in 2018 IEEE Conference on Decision and Control, CDC 2018., 8619036, Proceedings of the IEEE Conference on Decision and Control, vol. 2018-December, Institute of Electrical and Electronics Engineers Inc., pp. 7002-7009, 57th IEEE Conference on Decision and Control, CDC 2018, Miami, United States, 12/17/18. https://doi.org/10.1109/CDC.2018.8619036
Doroudchi A, Shivakumar S, Fisher RE, Marvi H, Aukes D, He X et al. Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm. In 2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 7002-7009. 8619036. (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2018.8619036
Doroudchi, Azadeh ; Shivakumar, Sachin ; Fisher, Rebecca E. ; Marvi, Hamidreza ; Aukes, Daniel ; He, Ximin ; Berman, Spring ; Peet, Matthew. / Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm. 2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 7002-7009 (Proceedings of the IEEE Conference on Decision and Control).
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