This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a tem- plate model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.

Trumic M., Santina C.D., Jovanovic K., Fagiolini A. (2023). On the stability of the soft pendulum with affine curvature: open-loop, collocated closed-loop, and switching control. IEEE CONTROL SYSTEMS LETTERS, 7, 385-390 [10.1109/LCSYS.2022.3187612].

On the stability of the soft pendulum with affine curvature: open-loop, collocated closed-loop, and switching control

Trumic M.;Fagiolini A.
2023-01-01

Abstract

This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a tem- plate model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.
2023
Settore ING-INF/04 - Automatica
Trumic M., Santina C.D., Jovanovic K., Fagiolini A. (2023). On the stability of the soft pendulum with affine curvature: open-loop, collocated closed-loop, and switching control. IEEE CONTROL SYSTEMS LETTERS, 7, 385-390 [10.1109/LCSYS.2022.3187612].
File in questo prodotto:
File Dimensione Formato  
On_the_Stability_of_the_Soft_Pendulum_With_Affine_Curvature_Open-Loop_Collocated_Closed-Loop_and_Switching_Control.pdf

accesso aperto

Tipologia: Versione Editoriale
Dimensione 1.69 MB
Formato Adobe PDF
1.69 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10447/566204
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 2
  • ???jsp.display-item.citation.isi??? 2
social impact