TY - GEN
T1 - Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm
AU - Doroudchi, Azadeh
AU - Shivakumar, Sachin
AU - Fisher, Rebecca E.
AU - Marvi, Hamidreza
AU - Aukes, Daniel
AU - He, Ximin
AU - Berman, Spring
AU - Peet, Matthew
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - 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.
AB - 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.
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U2 - 10.1109/CDC.2018.8619036
DO - 10.1109/CDC.2018.8619036
M3 - Conference contribution
AN - SCOPUS:85062180087
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 7002
EP - 7009
BT - 2018 IEEE Conference on Decision and Control, CDC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 57th IEEE Conference on Decision and Control, CDC 2018
Y2 - 17 December 2018 through 19 December 2018
ER -