LPV framework for Non-Linear Dynamic Control of Soft Robots using Finite Element Model. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Thieffry, Maxime; Kruszewski, Alexandre; Guerra, Thierry-Marie; Duriez, Christian
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 7312
• Page End: 7318
• Publication Date: 2020
• Subjects: Soft robotics -- Control -- Linear parameter-varying systems -- Lyapunov methods -- Model Reduction; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.984
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This work presents a methodology to control soft robots using a reduced order nonlinear finite element model. The Linear Parameter-Varying (LPV) framework is used both to model the robot along a prescribed trajectory and to design its control law. Model reduction algorithms along with radial basis functions network are used to identify the nonlinear behavior of the robot. Finally, the method is validated through simulation experiments.